NDLI: Modeling gait transitions of quadruped based on gait kinematics and CMAC neural networks

Content Provider	IEEE Xplore Digital Library
Author	Jian-Nan Lin Shin-Min Song
Copyright Year	1998
Description	Author affiliation: Dept. of Mech. Eng., Illinois Univ., Chicago, IL, USA (Jian-Nan Lin)
Abstract	The gait transition models of a quadruped are studied based on gait kinematics and CMAC neural networks are applied to learn and generalize these gait transition models. Three gait transition cases are studied: from wave gait to continuous follow-the-leader gait, from walk to trot, and from trot to gallop. Four solution methods are proposed for solving the gait transition models. Computer simulations are then conducted to evaluate and display the gait transition model. The good transition gaits are then selected to train CMAC neural network gait transition models. The performance of the CMAC gait transition models are evaluated and found to be satisfactory.
Starting Page	2075
Ending Page	2080
File Size	589131
Page Count	6
File Format	PDF
ISBN	0780348591
ISSN	10987576
DOI	10.1109/IJCNN.1998.687179
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Neural networks Leg Legged locomotion Mechanical engineering Microwave integrated circuits Electronic switching systems Application software Computer simulation Gravity
Content Type	Text
Resource Type	Article

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Modeling gait transitions of quadruped based on gait kinematics and CMAC neural networks