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Content Provider | IEEE Xplore Digital Library |
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Author | Silva, M.F. Tenreiro Machado, J.A. Lopes, A.M. |
Copyright Year | 2002 |
Description | Author affiliation: Dept. of Electr. Eng., Inst. of Eng. of Porto, Portugal (Silva, M.F.; Tenreiro Machado, J.A.) |
Abstract | Studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the locomobility of the foot, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices. |
Sponsorship | IEEE Robotics & Autom. Soc |
Starting Page | 2234 |
Ending Page | 2239 |
File Size | 589332 |
Page Count | 6 |
File Format | |
ISBN | 0780372727 |
DOI | 10.1109/ROBOT.2002.1013564 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2002-05-11 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Performance analysis Legged locomotion Foot Leg Robots System performance Power measurement Loss measurement Dispersion Actuators |
Content Type | Text |
Resource Type | Article |
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