TY - GEN
T1 - Gait Design and Numerical Simulation for a Quadruped Robotic System
AU - Sureshkumar, Vyshak
AU - Harib, Khalifa Hamad
AU - Oseni, Adewale Oriyomi
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - One of the important areas of research in legged robotics is the locomotion. In this paper a brief overview on representative gaits used by legged rovers is presented. A review on various kinematic and dynamic design analyses along with the control strategies used for quadruped system is carried out. The main focus of this paper is to perform a kinematic analysis for dynamic and static walking gaits for a quadruped robot. Based on the result from this analysis typical trajectories and gaits are developed and simulated in MATLAB. Since a dynamic gait is considered here, the system is classified under underactuated systems and the stability of the system is discussed as such. An overview of the work done toward building an experimental setup to carry out the experimental study is outlined.
AB - One of the important areas of research in legged robotics is the locomotion. In this paper a brief overview on representative gaits used by legged rovers is presented. A review on various kinematic and dynamic design analyses along with the control strategies used for quadruped system is carried out. The main focus of this paper is to perform a kinematic analysis for dynamic and static walking gaits for a quadruped robot. Based on the result from this analysis typical trajectories and gaits are developed and simulated in MATLAB. Since a dynamic gait is considered here, the system is classified under underactuated systems and the stability of the system is discussed as such. An overview of the work done toward building an experimental setup to carry out the experimental study is outlined.
KW - gaits
KW - kinematic analysis
KW - locomotion
KW - quadruped
KW - underactuated system
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U2 - 10.1109/ASET56582.2023.10180653
DO - 10.1109/ASET56582.2023.10180653
M3 - Conference contribution
AN - SCOPUS:85167460310
T3 - 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
BT - 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
Y2 - 20 February 2023 through 23 February 2023
ER -
