LOCOMOTION
Optimal Gait Generation of an 8-DOF Biped Robot on Deformable Terrain using Floating-base Dynamics
Sunil Gora, Shakti S. Gupta, Ashish Dutta
- Year
- 2021
- Citations
- 5
Abstract
This paper presents the optimal gait generation of an 8 Degrees of Freedom (DOF) biped robot on deformable terrain. The deformation of the terrain causes the foot and terrain contact point to move during gait, and hence we have used the floating base representation for the dynamics formulation.
Keywords
TerrainGaitComputer scienceRobotBase (topology)Biped robotRepresentation (politics)Robot kinematicsPoint (geometry)Degrees of freedom (physics and chemistry)
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