Towards a general neural controller for 3D quadrupedal locomotion

Abstract

Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits. The controller design phase is carried out using simulation. This paper reports the simulation of steady walking at 0.6 m/s of both the forelegs only and the hind legs only (with a supporting structure at the back and at the front respectively), achieved using our quadrupedal model.