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Automatic Gait Optimisation for Quadruped Robots

As part of the winning team in the Sony legged robot league of the RoboCup 2003 international robotic soccer competition, we used automatic gait optimisation. This was the first such technique seen in the competition and allowed an improvement in both speed and stability over previous gaits. Additionally, the technique was fast enough to run on-site at the competition, optimising the walk for the particular surface used. This paper describes the gait optimisation technique as well as some surprising features of the final gait discovered by the algorithm.