TY - JOUR
T1 - Which is better?
T2 - A natural or an artificial surefooted gait for hexapods
AU - Mostafa, Kazi
AU - Her, Innchyn
AU - Her, Jonathan M.
N1 - Funding Information:
We thank Messrs L. W. Liu and D. W. Wu for creating the figures and Mr. D. Li for miscellaneous assistance. Financial support by the National Science Council of Taiwan under grant NSC 98-2221-E110-023 is also acknowledged.
PY - 2011/7
Y1 - 2011/7
N2 - Natural multiped gaits are believed to evolve from countless generations of natural selection. However, do they also prove to be better choices for walking machines? This paper compares two surefooted gaits, one natural and the other artificial, for six-legged animals or robots. In these gaits four legs are used to support the body, enabling greater stability and tolerance for faults. A standardized hexapod model was carefully examined as it moved in arbitrary directions. The study also introduced a new factor in addition to the traditional stability margin criterion to evaluate the equilibrium of such gaits. Contrary to the common belief that natural gaits would always provide better stability during locomotion, these results show that the artificial gait is superior to the natural gait when moving transversely in precarious conditions.
AB - Natural multiped gaits are believed to evolve from countless generations of natural selection. However, do they also prove to be better choices for walking machines? This paper compares two surefooted gaits, one natural and the other artificial, for six-legged animals or robots. In these gaits four legs are used to support the body, enabling greater stability and tolerance for faults. A standardized hexapod model was carefully examined as it moved in arbitrary directions. The study also introduced a new factor in addition to the traditional stability margin criterion to evaluate the equilibrium of such gaits. Contrary to the common belief that natural gaits would always provide better stability during locomotion, these results show that the artificial gait is superior to the natural gait when moving transversely in precarious conditions.
KW - Artificial diametric gait
KW - Hexapods
KW - Paired metachronal gait
KW - Surefooted gaits
KW - Walking machines
UR - http://www.scopus.com/inward/record.url?scp=84891759497&partnerID=8YFLogxK
U2 - 10.4018/ijimr.2011070105
DO - 10.4018/ijimr.2011070105
M3 - Article
AN - SCOPUS:84891759497
SN - 2156-1664
VL - 1
SP - 63
EP - 72
JO - International Journal of Intelligent Mechatronics and Robotics
JF - International Journal of Intelligent Mechatronics and Robotics
IS - 3
ER -