Abstract
In this work, we present a practical approach for producing a stable 3D gallop in a simulated quadrupedal robot which includes the prominent characteristics of the biological gait. The dynamic model utilizes biologically-based assumptions, and the resulting 3D gallop contains the prominent biological features of early leg retraction, phase-locked leg motion, a significant gathered flight phase, unconstrained spatial dynamics, and a smooth gait. A multiobjective genetic algorithm is used to find control parameters in a partitioned search space. During stance, a simple energy control law ensures a fixed amount of energy in the knee springs during each stride, which is a key factor for stabilization.
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© 2006 Springer-Verlag Berlin Heidelberg
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Krasny, D.P., Orin, D.E. (2006). A 3D Galloping Quadruped Robot. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_56
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DOI: https://doi.org/10.1007/3-540-26415-9_56
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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