Achieving periodic leg trajectories to evolve a quadruped gallop

@inproceedings{Krasny2003AchievingPL,
  title={Achieving periodic leg trajectories to evolve a quadruped gallop},
  author={Darren P. Krasny and David E. Orin},
  booktitle={ICRA},
  year={2003}
}
For most large quadrupedal mammals, galloping-is the preferred gait for high-speed locomotion. In thi; paper we evolve a gallop gait in a simulated rjuadruped robot a t speeds from 3.0 t o 10.0m/s. To do so, we must generate, periodic trajectories for the body and legs. An evolutionary algorithm known as set-based stochastic optimization (SBSO) is used to… CONTINUE READING