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6 Locomotion areas Up: 5 Locomotion capabilities Previous: 4 Rotating gait

5 Lateral shift

Using this gait, the robot move parallel to its body axis. A phase difference of 100 degrees is applied both for the horizontal and vertical joints (Fig. [*]). The orientation of the body axis does not change while the robot is moving.

Figure: Lateral shift gait. Eight different sinusoidal CPGs are used. A phase difference of 100 is used both for the horizontal and vertical joints




juan 2006-10-09