Next: 1 1D sinusoidal gait Up: Locomotion Capabilities of a Previous: 4 Control approach
The simulation has been programmed using the Open Dynamics Engine (ODE) physical engine, in C language. Five different locomotion gaits have been achieved using the sinus-CPG model described in section . The values, ranges and restriction of the eight essential parameters that characterize the different gaits are given.
The values of the Amplitudes Av, Ah, if not specified, can vary from 0 to 90 degrees. The period () has been set to 20 units for all the gaits.