Publication detail

Four legged robot walking gait generation

ONDROUŠEK, V. VĚCHET, S. KREJSA, J. HOUŠKA, P.

Original Title

Four legged robot walking gait generation

Type

book chapter

Language

English

Original Abstract

This contribution is focused on the walking gait generation for a four legged robot using state space search algorithms and extends previous work, mainly (Ondroušek, 2006, 2007). A-star algorithm and beam search algorithm were implemented and verified by means of software simulation in 2006. Following goals were set for 2007: improvement of walking gait generation by using branch-and-bound algorithm and perfoming real tests on the four-legged walking robot with two degrees of freedom for each leg.

Keywords

robot, walking gait, A-star, beam search

Authors

ONDROUŠEK, V.; VĚCHET, S.; KREJSA, J.; HOUŠKA, P.

RIV year

2007

Released

15. 12. 2007

Publisher

VUT v Brně

Location

Brno

ISBN

978-80-214-3559-9

Book

Simulation Modelling of Mechatronic Systems III

Edition

mechatronics

Edition number

1

Pages from

123

Pages to

129

Pages count

7

BibTex

@inbook{BUT55427,
  author="Vít {Ondroušek} and Stanislav {Věchet} and Jiří {Krejsa} and Pavel {Houška}",
  title="Four legged robot walking gait generation",
  booktitle="Simulation Modelling of Mechatronic Systems III",
  year="2007",
  publisher="VUT v Brně",
  address="Brno",
  series="mechatronics",
  edition="1",
  pages="123--129",
  isbn="978-80-214-3559-9"
}