IEEE Journal on Robotics and Automation · 1988 · 68 citations · 15 references
EngineeringMechanical EngineeringRobotics EngineeringRobot DynamicsRobot KinematicsRoboticsBipedal LocomotionGait AnalysisLegged LocomotionLegged RoboticsLocomotion BiomechanicsLocomotion DesignGait StabilityHexapod LocomotionLocomotion StabilityStability Margin AnalysisStability Margin AssessmentStability Margin In WalkingStride LengthTripedal Locomotion
Hexapod tripod gaits for straight-line motion and crab walking are derived. Mathematical relations that express the stability margin, the stride length, and the duty factor are formulated for straight-line motion and for crab walking, respectively. The derived results provide tripod gaits of the hexapond for walking with a prescribed stability margin either over perfect terrain or constant slope terrain.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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