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Abstract
The article analyzes a possibility of selecting robot gait according to the average standard deviation of z coordinate of its feet. First, terrain irregularity is categorized and linked to robot leg dimensions. Height limits are determined for none, low/average, high, very high and impassable terrain roughness. Average standard deviation limits are experimentally determined for categorized terrain roughness. Also, rules for gait selection are established. The key disadvantages of such gait selection are named and a probable solution to the problem is given. Santrauka Straipsnyje nagrinėjama galimybė parinkti roboto eiseną pagal pėdų z koordinačių vidutinę standartinę nuokrypą. Pirmiausia apibrėžiamas paviršiaus netolygumas, kuris susiejamas su roboto kojų matmenimis. Apibrėžiamos aukščių ribos esant nuliniam, mažam / vidutiniam, dideliam, labai dideliam ir neįveikiamam paviršiaus netolygumui. Eksperimentiškai nustatomos vidutinės standartinės nuokrypos ribos esant apibrėžtiems paviršiaus netolygumams. Taip pat sudaromos pirminės taisyklės eisenai keisti. Įvardijami pagrindiniai tokio eisenos parinkimo būdo trūkumai ir pateikiamas galimas problemos sprendimo būdas.
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