A study on optimal gait pattern of a quadruped locomotion robot

Abstract

This article deals with the optimal gait pattern in terms of the proposed control system. The phase difference among the oscillators is selected as the optimization variable. The duty ratio is selected as the optimization parameter. The performance index is constructed as a quadratic form of the input torque vector at the joints. The simulated annealing (SA) method is used as the optimization algorithm to numerically derived the optimal gait patterns according to the various duty ratios.