The paper analyzes the theoretically possible quadruped gaits to determine those having the property of static stability when the feet are in contact with the ground. The analysis employs a finite state model that includes the basic kinematic parameters associated with the geometric aspects of a quadruped machine or animal. Only steady state constant speed locomotion in a straight line over a horizontal plane supporting surface with the legs of the system cycling periodically in space and time is considered. The analysis shows that only three quadruped gaits are suitable for very low speed locomotion. One of these possesses stability properties superior to the other two. The gait is the typical quadruped crawl previously recognized as the normal gait employed by natural quadrupeds and humans for very low speed four-legged locomotion. (Author)
On the Stability Properties of Quadruped Creeping Gaits
1968
23 pages
Report
Keine Angabe
Englisch