Proceedings of 1993 IEEE International Conference on Robotics and Automation
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Abstract

A description of equine gait is introduced. It allows for convenient modeling and visualization of the intra-limb leg and body motions of the horse as well as control of the gaits by rider inputs. The rider inputs feed into a neural network, the outputs of which feed into a gait simulator which controls the gait by means of a parameterized augmented finite state machine (PAFSM). The design of the PAFSM, the architecture of the overall system and the results obtained to date are presented. The simulation runs on a Silicon Graphics IrisCrimson VGXT.<>
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