Reliable and Precise Gait Modeling for a Quadruped Robot

  • Uwe Düffert
  • Jan Hoffmann
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)


We present a parametric walk model for a four-legged robot. The walk model is improved using a genetic algorithm, but unlike previous approaches, the fitness is determined in a run that closely resembles the later application. We thus not only achieve high speeds, but also a high degree of flexibility. In addition to the walking model being flexible, we present a means of automatically calibrating the walking engine. This allows for highly precise robot control and greatly improved odometry accuracy. Lastly, we show how the motion model can be extended to integrate specialized motions to further increase locomotion speed without compromising flexibility.


Gait Pattern Inverse Kinematic Quadruped Robot Legged Robot Walk Direction 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Uwe Düffert
    • 1
  • Jan Hoffmann
    • 1
  1. 1.Institut für Informatik, LFG Künstliche IntelligenzHumboldt-Universität zu BerlinBerlinGermany

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