外文翻四足机器人的步态适应.docxVIP

附录Gait Adaptation in a Quadruped Robot1. IntroductionA short time after birth a foal can walk and then run. It is remarkable that the animal learns tocoordinate the many muscles of the legs and trunk in such a short period of time. It is not likely that any learning algorithm could program a nervous system ab initio with so few training epochs. Nor is it likely that the foal’s locomotor controller is completely determined before birth. How can this a- bility be explained? How can this ability be incorporated into the control system of a walking machine?Researchers in biology have presented cle