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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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 & ...