An experiments of multiple gait-pattern quadrupedal motion.
Press the below number key to select gait-pattern:
0. pace
1. walk
2. trot
3. canter
4. transverse gallop (single suspension gallop)
5. rotary gallop (double suspension gallop)
(Delete the small red box, and it walks on the ground.)
pace, walk, and trot are good for now.
canter, transverse gallop, and rotary gallop are not so good yet.
Tech-Note:
In this version,
the difference of each gait-pattern is just the phase-shift of each legs.
No other parameters is controlled yet.
