1 1D sinusoidal gait Locomotion Capabilities of a 4 Control approach

5 Locomotion capabilities

The simulation has been programmed using the Open Dynamics Engine[31] (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.

Subsections

• 1 1D sinusoidal gait

• 2 Turning gait

• 3 Rolling gait

• 4 Rotating gait

• 5 Lateral shift

• 6 Locomotion areas