Selecting gaits for economical locomotion of legged robots

  title={Selecting gaits for economical locomotion of legged robots},
  author={Weitao Xi and Yevgeniy Yesilevskiy and C. David Remy},
  journal={I. J. Robotics Res.},
This paper explores the benefits of using multiple gaits in a single robot. Inspired by nature, where humans and animals use different gaits to increase their energetic economy, we analyzed how increasing speed affects the choice of gait, and how the choice of gait influences optimal speed. To this end, we used optimal control as a tool to identify motions that minimize the cost of transport of two detailed models: a planar biped and a planar quadruped. Both of these models are actuated with… CONTINUE READING
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A model of bipedal locomotion on compliant legs

  • RM Alexander
  • Philosophical Transactions of the Royal Society…
  • 1992
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