Optimal gaits generation of a 4-legged walking robot
Aria Alasty, B.S. Borujeni · 2004
A novel Locomotion and gait planning method for a surface walking/climbing robot based on sequential 4-bar mechanism motions is presented. The robot moves on a surface through decoupled transverse gaits and turning gaits with desired length and angle. For implementation of turning gaits three methods of simulated annealing accurate planning, gradient based planning and hybrid accurate planning, are studied. Where the last method was found the most effective approach.