The realization of stable quadruped locomotion through use of a finite control algorithm is discussed. Results confirm the validity of conjectures that stable locomotion is achievable through the use of on-off actuators at each joint and that coordination of joint motions can be accomplished by a simple finite algorithm implemented as a small special-purpose digital computer. A quadruped with four identical legs, each with a powered hip joint and knee joint, was constructed and tested. Results suggest applications in the fields of prosthetics and orthotics and off-the-road vehicular design. (Author)


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Finite State Control of Quadruped Locomotion


    Contributors:

    Publication date :

    1967


    Size :

    8 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Gait optimization method for quadruped locomotion

    Maicol Laurenza / Gianluca Pepe / Antonio Carcaterra | BASE | 2022

    Free access


    Analysis, Prototyping and Locomotion Control of a Quadruped Robot

    Souza, Lucas / Mohr, Felipe / Alencar, Brenda | IEEE | 2023


    Locomotion gait optimization for a quadruped robot

    Oliveira, Miguel / Santos, Cristina / Ferreira, Manuel João Oliveira et al. | BASE | 2010

    Free access

    Gait generation for real-time quadruped locomotion

    Jordaan Ernst / Fisher Callen | DOAJ | 2023

    Free access