Preliminary Energetics of Tripedal and Quadrupedal Gaits Using the GARP-4 Robot

gait.pdf (1.0 MB)


Changes in pedality can occur in animals due to injury, congenital defects, or behaviour. Here, an attempt is made to reproduce similar conditions on a nominally quadrupedal robot upon losing functionality in one leg, rendering it tripedal. The change in walking speed and energy efficiency are examined for both quadrupedal amble and basic tripedal walking gaits.

This academic paper features our DYNAMIXEL AX-12 all-in-one smart actuators

All credit goes to: James Andrew Smith and Jamil Jivraj