Performance analysis of multi-legged systems

@article{Silva2002PerformanceAO,
  title={Performance analysis of multi-legged systems},
  author={Manuel F. Silva and Jos{\'e} Ant{\'o}nio Tenreiro Machado and Ant{\'o}nio Mendes Lopes},
  journal={Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)},
  year={2002},
  volume={3},
  pages={2234-2239 vol.3}
}
Studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we… CONTINUE READING

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