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Trot Gait Design Details for Quadrupeds
Vincent Hugel, Pierre Blazevic, Olivier Stasse, and Patrick Bonnin
Laboratoire de Robotique de Versailles (LRV), 10/12 avenue de l’Europe, 78140 Vélizy, Francehugel@robot.uvsq.fr
Abstract. This paper presents a full description of the design of a trot locomotion that has been implemented on AIBO quadrupeds in the Sony legged league. This work is inspired by the UNSW achievements in RoboCup 2000 and 2001 in Melbourne and Seattle. The French team rebuilt a complete trot locomotion from scratch, and introduced special features that differ from the Australian original design. Many papers have already been dedicated to the work on quadruped locomotion [2-4]. However they do not detail all the parts of the design.
LNAI 3020, p. 495 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004