Optimal Locomotive Control Parameters of Biologically Inspired Four-Legged Walking Machine

Abstract:

Mechanical models have been more on technical rather than on biological concepts, which yield unstable locomotion with low speed. Structural and locomotive characteristics of living creatures are copied and modeled with 13 links, 12 joints and body, from the mechanical engineering viewpoint. Quadruped models are simulated as a time variable for the one cycle. Torques at joints are calculated and finally converted to total consumed energy. Variables, specifying structure and locomotion, are applied to the simulation as a time function, and the optimal variables which minimize energy expenditure are derived which can be directly applied to the Quadruped locomotion.

• Periodical: Applied Mechanics and Materials (Volume 607)
• Pages: 397-404
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.607.397
• Online since: July 2014
• Authors: Sung Ho Park*, Dong Pyo Hong
• Keywords: Direction Angle, Front Stroke Distance, Locus, Pitch Distance, Polynomial Equation, Rear Stroke Distance, Support Pattern

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