Galloping, Bounding and Wheeled-leg Modes of Locomotion on Underactuated Quadrupedal Robots

Galloping, Bounding and Wheeled-leg Modes of Locomotion on Underactuated Quadrupedal Robots

by James Andrew Smith

157 pages· 2007· ISBN 9780494322406
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A new method of forward speed control is presented for the bounding gait using liftoff, as opposed to touchdown, leg angles. The liftoff angle method of speed control is shown to be particularly suited to fine-tuning of certain gait performance indices.

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