A Comparative Study of Biologically Inspired Walking Gaits through Waypoint Navigation

A Comparative Study of Biologically Inspired Walking Gaits through Waypoint Navigation

Blog Article

This paper investigates the locomotion of a walking robot by delivering a comparative study of three different biologically inspired walking gaits, namely: tripod, ripple, and wave, in terms of ground slippage they experience while walking.The objective of this study is to identify the gait model which experiences the st1000nm0008 minimum slippage while walking on a ground with a specific coefficient of friction.To accomplish this feat, the robot is steered over a reference path using a waypoint navigation algorithm, and the divergence of the robot from the reference path is investigated in terms of slip errors.

Experiments are sun decal for wall conducted through closed-loop simulations using an open dynamics engine which emphasizes the fact that due to uneven and unsymmetrical distribution of payload in tripod and ripple gait models, the robot experiences comparatively larger drift in these gaits than when using the wave gait model in which the distribution of payload is even and symmetrical on both sides of the robot body.The paper investigates this phenomenon on the basis of force distribution of supporting legs in each gait model.