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3 Rolling gait Up: 5 Locomotion capabilities Previous: 1 1D sinusoidal gait

2 Turning gait

The robot can move along an arc, turning left or right. The values of the parameters are as same as that in the 1D sinusoidal gait (Fig. [*]), but now an offset in the horizontal joints is applied (Oh/=0). Therefore, the horizontal joints are at fixed position all the time. The robot has the shape of an arc. By changing Oh , the radix of curvature of the trajectory can be modified.

Figure: Turning gait. The same coordination is applied than in the 1D sinusoidal gait. The offset of the horizontal joints determines the arc.

juan 2006-10-09