Optimal tripod turning gait generation for hexapod walking machines

Authors:
S. Miao;D. Howard
Affiliations:
Aeronautical & Mechanical Engineering, University of Salford, Salford, M5 4WT (UK);Aeronautical & Mechanical Engineering, University of Salford, Salford, M5 4WT (UK)
Venue:
Robotica
Year:
2000

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Abstract

This paper describes an algorithm for generating a tripod turning gait which, when given an arbitrarily located turning centre, firstly maximises the rotation angle (angular stride) and then secondly optimises the stability. It does not require a specific walking machine layout or leg workspace shape, and it can deal with changes in the position of the CG caused by walking on a gradient or by uneven loading.