Abstract
This paper describes an algorithm
for generating a tripod turning gait which, when given an
arbitrarily located turning centre, firstly maximises the rotation angle (angular
stride) and then secondly optimises the stability. It does not
require a specific walking machine layout or leg workspace shape,
and it can deal with changes in the position of
the CG caused by walking on a gradient or by
uneven loading.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
19 articles.
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