Frequency space representation and transitions of quadruped robot gaits

Abstract

The locomotion of a quadruped robot was examined with the emphasis on the creation, optimization and merging of motions and gaits. A Fourier Series Ex-pansion was performed on the controller commands used in the robot gait. It was found that omitting higher order terms has very little, at times even pos-itive effect on the robot’s performance yet yields a greatly reduced parameter set describing the motion. The parameter reduction is desirable for creating, op-timizing and adapting motions. Furthermore, the ac-quired frequency space representation allows for sim-ple creation of new motions by merging of existing ones and also for creating transitions from one type of motion to another.