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Creeping gait analysis and simulation of a quadruped robot
Other Title(s)
تحليل و محاكاة روبوت رباعي الأرجل في حالة المشي
Joint Authors
Fulayyih, Murtada Khudayr
Rahim, Firas Abd al-Razzaq
Source
al-Khwarizmi Engineering Journal
Issue
Vol. 14, Issue 2 (30 Jun. 2018), pp.93-106, 14 p.
Publisher
University of Baghdad al-Khwarizmi College of Engineering
Publication Date
2018-06-30
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Abstract EN
A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility.
In general, quadruped robots have three main periodic gaits: creeping gait, running gait and galloping gait.
The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait.
The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait.
In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out.
The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking.
Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.
American Psychological Association (APA)
Rahim, Firas Abd al-Razzaq& Fulayyih, Murtada Khudayr. 2018. Creeping gait analysis and simulation of a quadruped robot. al-Khwarizmi Engineering Journal،Vol. 14, no. 2, pp.93-106.
https://search.emarefa.net/detail/BIM-838076
Modern Language Association (MLA)
Rahim, Firas Abd al-Razzaq& Fulayyih, Murtada Khudayr. Creeping gait analysis and simulation of a quadruped robot. al-Khwarizmi Engineering Journal Vol. 14, no. 2 (Jun. 2018), pp.93-106.
https://search.emarefa.net/detail/BIM-838076
American Medical Association (AMA)
Rahim, Firas Abd al-Razzaq& Fulayyih, Murtada Khudayr. Creeping gait analysis and simulation of a quadruped robot. al-Khwarizmi Engineering Journal. 2018. Vol. 14, no. 2, pp.93-106.
https://search.emarefa.net/detail/BIM-838076
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 105
Record ID
BIM-838076