AIBO Walking Styles - Gaits |
Overview
As we all know AIBO has 9 walking styles. You can access them using Super Game Mode (http://aibopet.go.to/sgame.htm) At any given stage, AIBO will use only 2 of these styles. It turns out there are 14 walking styles (AKA "gaits") stored as data tables in the software. I don't think the extra 5 are accessible from the normal AiboWare.14 built-in walking styles
For most gaits there are 17 variables that uniquely define the gait. For the TROT and CRAWL walking styles, there are a few extra parameters. The TROT walking style appears to be the most complex. Here's the list of all 14 (I've given names to the new ones):- ROBOT: a stiff-legged robot walk (hmm, looks like Bender)
- PHASE1: similar to a normal walk but the legs go in a different order
- PHASE2: similar to a normal walk but the legs go in a different order
- SKIP: legs walk in the "skip" order as described in the paper. It looks really stupid, and the dog falls down all the time
- CRAB
- SLOW
- MEDIUM
- NORMAL
- FAST
- TROT: the most complex and tuned gait
- STYLE9: another variant on medium walk
- LIMPING
- BABY
- CRAWL