Thursday, March 03, 2005

Walking Gaits

Walking gaits are the study of legged motion and how legs can be used to produce different kinds of motion. We're interested in learning how to control these legs, and also we want to extract general principles of legged motion, so we can easily port these to novel robot designs.

There are the typical bipeds which is what humans are, two-legged creatures. And there are the quadruped and hexapod creatures that have 4 and 6 legs respectively.

We often look to biological organisms and what their solutions are for legged motion. You can look at Kimura for examples of taking biological concepts and porting them to robots. I'm studying quadrupeds right now, so most of his papers are on quadrupeds, but I beliieve he does more general research.

Basically, they use neural oscillators to generate the movements of the joints. All of the oscillators for each joint are coupled, or "mutually entrained" as he says. I believe this also means that they're conditioned to respond to each other effectively just like you would train any neural network. This also makes the robot control adaptive since the oscillators are sensitive to the joint angles.

Of course, the problem with this is that you need to be doing numerical operations in real-time and also communicate the entrainment between all the joints in real-time. This is easy to do if you build a custom robot for this application, but on a generic robot platform, communication and computation becomes an issue.


At 4:35 AM, Anonymous Anonymous said...

I think the admin of this web page is genuinely working hard in support of his site, as here every stuff is
quality based information.

Also visit my webpage - film discussion forums

At 8:03 AM, Anonymous Anonymous said...

Can I just say what a relief to uncover somebody who genuinely understands what they're talking about over the internet. You definitely understand how to bring a problem to light and make it important. More and more people really need to read this and understand this side of your story. I was surprised that you're not
more popular because you surely have the gift.

Have a look at my page; research paper service

At 4:53 PM, Anonymous Anonymous said...

Today, I went to the beach with my kids. I found a sea shell and gave it to my 4 year old daughter
and said "You can hear the ocean if you put this to your ear."
She placed the shell to her ear and screamed. There was a hermit crab inside and it pinched her ear.
She never wants to go back! LoL I know this is totally off topic but I had to
tell someone!

My weblog :: local business directory listings

At 7:42 PM, Anonymous Anonymous said...

Hello! I know this is kinda off topic however , I'd figured I'd ask.
Would you be interested in exchanging links or maybe guest authoring a blog post or vice-versa?

My site covers a lot of the same subjects as yours and I believe we could greatly benefit from each other.
If you're interested feel free to shoot me an e-mail. I look forward to hearing from you! Excellent blog by the way!

my page; research paper graphic organizer

At 3:32 AM, Anonymous Anonymous said...

Hi there! This is kind of off topic but I need some help from an
established blog. Is it difficult to set up
your own blog? I'm not very techincal but I can figure things out pretty fast. I'm thinking about setting up my own but I'm not sure where to begin. Do you have any points or suggestions? Cheers

My web page; sell old computers Charlotte

At 4:21 AM, Anonymous Anonymous said...

Piece of writing writing is also a fun, if you know afterward you
can write if not it is complex to write.

Visit my web blog - local business directory pages

At 4:41 AM, Anonymous Anonymous said...

certainly like your web site however you need to
take a look at the spelling on quite a few of your posts.
Many of them are rife with spelling problems and I to find
it very bothersome to tell the reality nevertheless I
will surely come back again.

my blog post local listings usa

At 1:29 PM, Anonymous Anonymous said...

WOW just what I was looking for. Came here by searching for LocalD

my blog local businesses

At 9:16 PM, Anonymous Anonymous said...

Greetings from Los angeles! I'm bored at work so I decided to check out your website on my iphone during lunch break. I love the knowledge you provide here and can't wait
to take a look when I get home. I'm amazed at how quick your blog loaded on my phone .. I'm not even using WIFI, just 3G .
. Anyhow, awesome blog!

Here is my webpage ... new local business directory us


Post a Comment

<< Home