Iguana Robotics Inc.

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

Author: M. Anthony Lewis

Email: tlewis@iguana-robotics.com

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