Abstract
A method is presented for the generation of a locally optimal free gait for 2-D generalized motion of a quadruped walking machine. It employs a heuristic graph search procedure based on the A* algorithm. The method essentially looks into the consequences of a move to a certain depth before actually committing to it. Deadlocks and inefficiencies are thus sensed well in advance and avoided.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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