A Gait Generation Algorithm for Legged Robots

Abstract

Planning a good gait locus for some legged robots is a very difficult task because the lack of dynamic parameters.It is often done manually by building a model in a laborious way and there is the lack of research in automatic gait locus planning.Bearing this problem in mind,this article presents a gait locus planning method using inverse kinematics while incorporating genetic algorithms.Using quadrupled robots as a platform for evaluation,this method is shown to be able to generate a good gait locus for legged robots.