Gait
Adaptation in a Quadruped Robot
Presented at the Workshop on Biorobotics,
Legged Locomotion and Cooperative Behavior, May 4, 1999
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| Table of
Contents: |
- Gait Adaptation in a Quadruped Robot
- Learning Basic Gait Patterns
- Motivation
- Theory
- CPG Tuning
- Postural Control
- Active Postural Control
- Active Control of Trunk
- Learning Twisting Movement of Trunk
- Flexor Burst Length Adaptation
- Flexor Burst Length Adaptation
- Embedding Function on Chip
- Putting it together
- Summary & Conclusion
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