Gait Design and Numerical Simulation for a Quadruped Robotic System

Vyshak Sureshkumar; Khalifa Hamad Harib; Adewale Oriyomi Oseni

doi:10.1109/ASET56582.2023.10180653

Gait Design and Numerical Simulation for a Quadruped Robotic System

Vyshak Sureshkumar
, Khalifa Hamad Harib
, Adewale Oriyomi Oseni

Department of Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665454742
DOIs	https://doi.org/10.1109/ASET56582.2023.10180653
Publication status	Published - 2023
Event	2023 Advances in Science and Engineering Technology International Conferences, ASET 2023 - Dubai, United Arab Emirates Duration: Feb 20 2023 → Feb 23 2023

Publication series

Name	2023 Advances in Science and Engineering Technology International Conferences, ASET 2023

Conference

Conference	2023 Advances in Science and Engineering Technology International Conferences, ASET 2023
Country/Territory	United Arab Emirates
City	Dubai
Period	2/20/23 → 2/23/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

gaits
kinematic analysis
locomotion
quadruped
underactuated system

ASJC Scopus subject areas

Renewable Energy, Sustainability and the Environment
Biomedical Engineering
Control and Optimization
Artificial Intelligence
Computer Science Applications
Decision Sciences (miscellaneous)
Fuel Technology

Access to Document

10.1109/ASET56582.2023.10180653

Cite this

Sureshkumar, V., Harib, K. H., & Oseni, A. O. (2023). Gait Design and Numerical Simulation for a Quadruped Robotic System. In 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023 (2023 Advances in Science and Engineering Technology International Conferences, ASET 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASET56582.2023.10180653

Gait Design and Numerical Simulation for a Quadruped Robotic System. / Sureshkumar, Vyshak; Harib, Khalifa Hamad; Oseni, Adewale Oriyomi.
2023 Advances in Science and Engineering Technology International Conferences, ASET 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 Advances in Science and Engineering Technology International Conferences, ASET 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sureshkumar, V, Harib, KH & Oseni, AO 2023, Gait Design and Numerical Simulation for a Quadruped Robotic System. in 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023. 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023, Institute of Electrical and Electronics Engineers Inc., 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023, Dubai, United Arab Emirates, 2/20/23. https://doi.org/10.1109/ASET56582.2023.10180653

Sureshkumar V, Harib KH, Oseni AO. Gait Design and Numerical Simulation for a Quadruped Robotic System. In 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 Advances in Science and Engineering Technology International Conferences, ASET 2023). doi: 10.1109/ASET56582.2023.10180653

Sureshkumar, Vyshak ; Harib, Khalifa Hamad ; Oseni, Adewale Oriyomi. / Gait Design and Numerical Simulation for a Quadruped Robotic System. 2023 Advances in Science and Engineering Technology International Conferences, ASET 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 Advances in Science and Engineering Technology International Conferences, ASET 2023).

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Gait Design and Numerical Simulation for a Quadruped Robotic System

Abstract

Publication series

Conference

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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