A free gait for generalized motion

@article{Pal1990AFG,
  title={A free gait for generalized motion},
  author={Prabir K. Pal and K. Jayarajan},
  journal={IEEE Trans. Robotics and Automation},
  year={1990},
  volume={6},
  pages={597-600}
}
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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On the problem of selecting a gait for a legged vehicle,

R . B. McGhee, S. S . Sun
in Proc. VI IFAC Symp. Automat, Contr. Space (Armenian S.S.R., • 1974

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A. P. Bessnov, N. V. Umnov
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