Analysis of walk for quadruped

摘要

The authors investigate animal gaits and compare them with robot gaits in order to determine the parameters of the dynamic walk of robots. Several parameters are introduced to analyze gaits. These parameters can be normalized, using the equation of motion of an inverted pendulum. The experimental relations among the parameters give a gait which is efficient.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>