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1 1D sinusoidal gait Up: Locomotion Capabilities of a Previous: 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.


juan 2006-10-09