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Gait Development For Use In Dynamic Gait Optimization Of Qudrupedrobot Walking, Mark Will

Theses

The ability of walking robots to operate in areas that are inaccessible to wheeled robots has lead to significant research in the field of gait development and optimization for these robots. In this particular study, a catalog of gaits for use in a dynamic gait optimization system to optimize the walking speed of the quadruped Arturo robot on flat terrain is developed. This catalog of robot gaits was developed using a genetic algorithm formulation; various combinations of the selection, mutation, and crossover operators were analyzed.

The Arturo robot was modified so that physical verification of the developed gaits could be …