Questions tagged [walk]

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906 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 ...
6
votes
1answer
818 views

Why are bipedal robots difficult?

Not sure if this has been asked, but there are lots of simulations of bipedal locomotion algorithms online, some of the evolutionary algorithms converge to very good solutions. So it seems to me that ...
1
vote
0answers
30 views

Unilateral Torque Constraint on the foot-ground interface

I was studying the basics of legged locomotion and came across the unilateral force and torque constraints at the foot-ground interface. I understood the implication of the unilateral constraint on ...
1
vote
1answer
187 views

Does anyone have any walking patterns for a Biped Scout? (LYNXmotion) [closed]

I recently got a LYNX Biped Scout and found that it is really hard to actually come up with a working "Gait" or walking pattern. Making a servo move is easy, that's not the problem, I previously ...
12
votes
1answer
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 ...
2
votes
2answers
511 views

Simple Neural Network with hardcoded positions for walk optimisation

I'm building a quadrupedal robot that will learn how to walk. From the responses I got from asking if its possible to run a NN on a micro controller I realised I needed to think of a clever system ...
24
votes
2answers
551 views

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

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 ...