Accession Number : AD0714592

Title :   A Study of Regularly Realizable Gait Matrices.

Descriptive Note : Master's thesis,

Corporate Author : OHIO STATE UNIV COLUMBUS DEPT OF ELECTRICAL ENGINEERING

Personal Author(s) : Jain,Anil Kumar

Report Date : 1970

Pagination or Media Count : 63

Abstract : A gait of an n-legged machine or animal can be represented by a binary matrix, called a gait matrix, in which each row specifies the succession of leg states involved in the gait. By convention, a leg is said to be in the 0-state when it is in contact with the ground and in the 1-state when it is raised above it. A specific gait matrix is regularly realizable if and only if it is possible to execute the gait with every leg spending the same amount of time in the 0-state as every other leg. The report presents some general properties of such matrices. Both a sufficient condition and a necessary condition for regular realizability is obtained for a general n-legged machine. For quadrupeds and bipeds, a single condition which is both necessary and sufficient is found and it is determined that a total of 4 nonsingular biped gaits and 480 nonsingular quadruped gaits are regularly realizable. (Author)

Descriptors :   (*BIOPHYSICS, LEGS), MATRICES(MATHEMATICS), VEHICLE CHASSIS COMPONENTS, THEOREMS, THESES

Subject Categories : Biomedical Instrumentation and Bioengineering

Distribution Statement : APPROVED FOR PUBLIC RELEASE