Trot Gait Locomotion of a Cat Sized Quadruped Robot

[5] Ludovic Righetti and Auke Jan Ijspeert. Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots. In AMAM 2008 abstracts, pages 90–91, 2008. Acknowledgments The research leading to these results has received funding from the European Communitys Seventh Framework Programme FP7/2007-2013-Challenge 2-Cognitive Systems, Interaction, Robotics-under grant agreement No. 248311 [AMARSi]. Two coupled DMP with nonlinear phases. Each DMP has a nonlinearly changing τ , so their phase evolution (τφ = 2π) is not linear. However these phases are not directly coupled. Instead, two correspondent linear phases are coupled (left), and the nonlinear phases (right), that are in result coupled, are calculated. So, φ = f (φlinear). As it can be seen, disturbances are applied on the linear phases (around time: 2 sec and 3 sec), but both linear and nonlinear phases are able to reject the disturbances and remain synchronized. Closed-loop Dynamical Movement Primitives