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cs.RO2023
Energetic Analysis on the Optimal Bounding Gaits of Quadrupedal Robots
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
It is often overlooked by roboticists when designing locomotion controllers for their legged machines, that energy consumption plays an important role in selecting the best gaits f…
cs.RO2023★ 5 cited
Breaking Symmetries Leads to Diverse Quadrupedal Gaits
Jiayu Ding, Zhenyu Gan
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's m…