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Questions tagged [gait]

Gait is the pattern of movement of the limbs of animals, including robots, during locomotion over a solid substrate. Most animals use a variety of gaits, selecting gait based on speed, terrain, the need to maneuver, and energetic efficiency.

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24 votes
2 answers
663 views

What useful gaits exist for a six legged robot, and what are their pros and cons? [closed]

http://www.oricomtech.com/projects/leg-time.htm lists three gaits: the tripod wave, and ripple. Can these be improved, or can their relative pros and cons be altered, and are there other gaits worth ...
Sparr's user avatar
  • 341
12 votes
1 answer
2k views

What is a good approach to a Quadruped Gait?

I have a small quadruped with three degree of freedom legs which I have been working on: 3DOF Mini Quadruped. My original code for it was a simple servo controller on the arduino, and Scala code ...
Ian McMahon's user avatar
3 votes
1 answer
263 views

Perfecting Tripod Gait - Building a R-Hex Robot

I need help with figuring out the following things: I'm developing a hexapod R-Hex type model with a tripod gait. However, the angles obtained during the robot's walking in real life are not ...
Naresh's user avatar
  • 589
1 vote
4 answers
367 views

Question about programming approach of a dog like quadruped robot

I and my friends are planning to build a dog like quadruped robot. We have designed it like MIT Cheetah Mini like legs structure, each leg having 3 Servos, 3rd DOF for rotation. We have calculated ...
Inv3nt0r's user avatar
1 vote
2 answers
2k views

Hexapod walking algorithm

I am making a hexapod project with my friend. There is a issue about its walking style. Generally tripod gait is formed as two steps: first move legs 1,3,5, then 2,4,6 which corresponds to moving one ...
Kerem Zaman's user avatar
1 vote
2 answers
259 views

Inverse Kinematics for 4 legged robots and body translation

The prompt here is to implement the IK on a real robot with constraints. I started off with writing the DH-Table. $\begin{bmatrix}n & a_{i-1} & \alpha_{i-1} & d_i & \theta_i \\1 & ...
Prathik Gurudatt's user avatar