@inproceedings{e2a4a38c4a654aeba10d27990d0b77e8,
title = "Statically stable gait synthesis algorithm for 4-legged walking robot based on the ground reaction forces determination",
abstract = "There is a stable gait synthesis algorithm for 4-legged walking robot presented in the paper. The algorithm is based on the known location of the robot center of gravity which is derived from the distribution of ground reaction forces. The statically stable gait synthesis is considered. The general gait algorithm and the algorithm for legs sequence choosing as well as the algorithm for the center of gravity shifting were implemented in Matlab environment. The results of simulation for a complete gait period are presented.",
keywords = "4-legged robot, center of gravity, foot force distribution, gait synthesis, quadrupled robot, statically stable gait",
author = "Andrzej Globisz and Damian Krawczyk",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 19th International Conference on Research and Education in Mechatronics, REM 2018 ; Conference date: 07-06-2018 Through 08-06-2018",
year = "2018",
month = jul,
day = "27",
doi = "10.1109/REM.2018.8421774",
language = "English",
isbn = "9781538654132",
series = "Proceedings of the 2018 19th International Conference on Research and Education in Mechatronics, REM 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "81--86",
editor = "Hidde Duivenvoorden and Rufus Fraanje",
booktitle = "Proceedings of the 2018 19th International Conference on Research and Education in Mechatronics, REM 2018",
address = "United States",
}