@inproceedings{3bb8e7efe19f4c3ea92bc7b5dc0d2a90,
title = "Locomotion analysis of a modular pentapedal walking robot",
abstract = "In this paper, the configuration of a five-limbed modular robot is introduced. A specialised locomotion gait is designed to allow for omni-directional mobility. Due to the large diversity resulting from various gait sequences, a criteria for selecting the best gaits based on their stability characteristics is proposed. A series of simulations is then performed to evaluate the various gaits in different walking directions. A gait arrangement scheme toward omni-directional locomotion is finally derived. Lastly, Experiments are also carried out on our pentapedal robot prototype in order to validate the results of simulation. The experiments confirm the gait analysis and selection is highly accurate in the evaluation of gait stability.",
keywords = "Five-limbed, Gait, Pentapedal",
author = "Cong Liu and Filippo Sanfilippo and Houxiang Zhang and Hildre, \{Hans Petter\} and Chang Liu and Shusheng Bi",
year = "2012",
doi = "10.7148/2012-0441-0447",
language = "英语",
isbn = "9780956494443",
series = "Proceedings - 26th European Conference on Modelling and Simulation, ECMS 2012",
publisher = "European Council for Modelling and Simulation",
booktitle = "Proceedings - 26th European Conference on Modelling and Simulation, ECMS 2012",
address = "德国",
note = "26th European Conference on Modelling and Simulation, ECMS 2012 ; Conference date: 29-05-2012 Through 01-06-2012",
}