Sanford Meek

Determining Optimal Gait Parameters for a Statically Stable Walking Human Assistive Quadruped Robot

In this paper we propose a method to determine an optimal statically stable gait for a quadruped robot walking in the presence of an expected disturbance. There exists a tradeoff between a stable gait and an energy efficient gait. Our goal is to determine an energy efficient quadruped gait that will…