A free gait for generalized motion

  title={A free gait for generalized motion},
  author={Prabir K. Pal and K. Jayarajan},
  journal={IEEE Trans. Robotics and Automation},
A method has been presented for the generation of a locally optimal free gait for 2-D generalized motion of a quadruped walking machine. It employs a heuristic graph search procedure based on the A* algorithm. The method essentially looks into the consequences of a move to a certain depth before actually committing to it. Deadlocks and inefficiencies are thus sensed well in advance and avoided. 

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