Fig. 15From: Generalization of movements in quadruped robot locomotion by learning specialized motion dataPhase-difference results for the gaits of a trotting, and b pronking. In this case, the feature with the period 1[s] (0.5[s]) often induced the trotting (pronking) gait. Note that twelve times experiments are performed, so, in each experiment, the lower and the higher frequency feature induce trotting and pronking, respectivelyBack to article page