Quadruped Robots Exhibiting Gait Transitions in Animals

Automatic Gait Optimisation for Quadruped Robots

As part of the winning team in the Sony legged robot league of the RoboCup 2003 international robotic soccer competition, we used automatic gait optimisation. This was the first such technique seen in the competition and allowed an improvement in both speed and stability over previous gaits. Additionally, the technique was fast enough to run on-site at the competition, optimising the walk for t...

Ga-based Gait Generation of Sony Quadruped Robots

This paper presents a GA (Genetic Algorithm) approach to the development of locomotion gait for Sony quadruped robots. The selection of GA parameters such as the population size and recombination methods is made to be flexible and strive towards optimal performance autonomously. An interactive software environment with an overhead CCD camera is used to evaluate the performance of the generated ...

Gait Adaptation in a Quadruped Robot

Omnidirectional Locomotion for Quadruped Robots

Competing at the RoboCup 2000 Sony legged robot league, the UNSW team won both the challenge competition and all their soccer matches, emerging the outright winners for this league against eleven other international teams. The main advantage that the UNSW team had was speed. A major contributor to the speed was a novel omnidirectional locomotion method developed for the quadruped Sony ERS-110 r...

Quadruped Gait Transitions from a Neural Pattern Generator with Arousal Modulated Interactions

Center for Adaptive Systems and Department of Cognitive and Neural Systems Boston University, 111 Cummington Street, Boston, MA 02215 A four-channel neural pattern generator is described in which both the frequency and the relative phase of oscillations are controlled by a scalar arousal or GO signal. The generator is used to simulate quadruped gaits; in particular, rapid transitions are simula...