A Comparative Study of Biologically Inspired Walking Gaits through Waypoint Navigation

Joint Authors

Iqbal, Javaid
Asif, Umar

Source

Advances in Mechanical Engineering

Issue

Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-9, 9 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2011-09-19

Country of Publication

Egypt

No. of Pages

9

Main Subjects

Mechanical Engineering

Abstract EN

This paper investigates the locomotion of a walking robot by delivering a comparative study of three different biologically inspired walking gaits, namely: tripod, ripple, and wave, in terms of ground slippage they experience while walking.

The objective of this study is to identify the gait model which experiences the minimum slippage while walking on a ground with a specific coefficient of friction.

To accomplish this feat, the robot is steered over a reference path using a waypoint navigation algorithm, and the divergence of the robot from the reference path is investigated in terms of slip errors.

Experiments are conducted through closed-loop simulations using an open dynamics engine which emphasizes the fact that due to uneven and unsymmetrical distribution of payload in tripod and ripple gait models, the robot experiences comparatively larger drift in these gaits than when using the wave gait model in which the distribution of payload is even and symmetrical on both sides of the robot body.

The paper investigates this phenomenon on the basis of force distribution of supporting legs in each gait model.

American Psychological Association (APA)

Asif, Umar& Iqbal, Javaid. 2011. A Comparative Study of Biologically Inspired Walking Gaits through Waypoint Navigation. Advances in Mechanical Engineering،Vol. 2011, no. 2011, pp.1-9.
https://search.emarefa.net/detail/BIM-494682

Modern Language Association (MLA)

Asif, Umar& Iqbal, Javaid. A Comparative Study of Biologically Inspired Walking Gaits through Waypoint Navigation. Advances in Mechanical Engineering No. 2011 (2011), pp.1-9.
https://search.emarefa.net/detail/BIM-494682

American Medical Association (AMA)

Asif, Umar& Iqbal, Javaid. A Comparative Study of Biologically Inspired Walking Gaits through Waypoint Navigation. Advances in Mechanical Engineering. 2011. Vol. 2011, no. 2011, pp.1-9.
https://search.emarefa.net/detail/BIM-494682

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-494682