Skip to search.

Breaking News Visit Yahoo! News for the latest.

×Close this window

arachner_robotics · ARACHNER ROBOTICS

The Yahoo! Groups Product Blog

Check it out!

Group Information

  • Members: 5
  • Category: Robotics
  • Founded: May 21, 2009
  • Language: English
? Already a member? Sign in to Yahoo!

Yahoo! Groups Tips

Did you know...
Message search is now enhanced, find messages faster. Take it for a spin.

Home

 

Activity within 7 days:

(No Activity)

Description

It is important for walking robots such as quadruped robots to have an efficient gait. Since animals and insects are the basic models for most walking robots, their walking patterns are good examples.

In most discusions everyone has mention Oricom http://www.oricomtech.com/projects/leg-time.htm

An excelent site full of information.
The gaits of a quadruped here are analyzed and compared to natural animal gaits. but is there a more efficient design-build that can improve quadrupeds?

Genetic algorithms have been applied to obtain the energy-optimal gait when a quadruped robot is walking with a set velocity.
The gait which consumes the least energy is considered to be the best gait.

The energy-optimal gait is analyzed at several walking velocities, since the amount of walking energy consumption changes if the walking velocity of the robot is changed.

I guess the information i wish to discuss here is, what type of gait should be generated for a quadruped robot as its walking velocity changes.

Quadruped gait generation based on the primary/secondary gait

A gait algorithm is proposed utilizing a new method of gait generation called primary/secondary gait. The primary gait is a fixed sequence of leg transfers with modified leg-end kinematic limits according to the obstacle presence, while the secondary gait is a flexible gait which is generated to adjust the leg-end position. The primary gait is generated considenng the following four constraints: stability constraint, kinematic constraint, sequential constraint and neighboring constraints. Primary gait parameters are modified by the influence of the obstacle. Normally, the machine tends to move with the primary gait. When the primary gait cannot move the vehicle, the secondary gait is adopted to serve as a complement of the primary gait. With the proposed primary/secondary gait, it is expected to improve the efficiency of free gait generation while maintaining the mobility.

Jonny (innerbreed)
Photo: by innerbreed

Most Recent Messages

  (View All)
New file uploaded to arachner_robotics
Hello, This email message is a notification to let you know that a file has been uploaded to the Files area of the arachner_robotics group. File :
Posted - Sat May 30, 2009 11:21 am
arachner_robotics@yah...
Send Email Send Email
Re: Quadruped Gaits.
Hi Jonny, Yes, I've gone over oricomtech many times! Lots of info there. I look forward to reading more information. Alan KM6VV
Posted - Thu May 28, 2009 7:30 pm
Alan Marconett
km6vv
Send Email Send Email
Re: Quadruped Gaits.
... Hi alan. well the information is part of a wide collection about quadruped loco iv researched. i think it may have been somewere on www.oricomtech.com or
Posted - Thu May 28, 2009 7:25 pm
theinnerbreed@...
theinnerbree...
Send Email Send Email
Re: Quadruped Gaits.
Interesting summation, where did you find it? Alan KM6VV
Posted - Wed May 27, 2009 11:34 pm
Alan Marconett
km6vv
Send Email Send Email
Quadruped Gaits.
All quadrupeds use one or more of the following gaits Walk Amble Trot Gallop (rotary & transverse) Canter ... Gait Description A simple description of the
Posted - Wed May 27, 2009 10:57 pm
theinnerbreed@...
theinnerbree...
Send Email Send Email
Add arachner_robotics to your personalized My Yahoo! page Add to My Yahoo! XML What's This?

Message History

Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec
2009 5

Copyright © 2010 Yahoo! Inc. All rights reserved.
Privacy Policy - Terms of Service - Guidelines NEW - Help