- Walking:
- [http://en.wikipedia.org/wiki/Horse_gaits#The_ordinary_gaits Types of 4-legged gait]
- Walk
- Trot
- Canter/Gallop
- Stable 4-legged walk
- PWalk (Normal Walk)
- Trot, Parameterised, Open Loop
- Locus shape/timing
- Calc of bodyTilt and shoulderHeight
- Modifications to PWalk
- CanterWalk (not really a full canter)
- Trapezoidal Walk
- OffsetWalk
- EllipticalWalk
- SkellipticalWalk
- Convert all walks into turns
- Straight line vs. circle
- Other parameterizations
- different shapes / timings
- Odometry Calibration
- Learning odometry
- [http://en.wikipedia.org/wiki/Horse_gaits#The_ordinary_gaits Types of 4-legged gait]
Motions:
- Kicking
- Motion Playback
- Paw-kick
- Grabbing
- Kicking
Walk Learning:
- Gradient decent over parameterized walks
- Open Questions
- Kick/Grab learning
- Closed loop walks (estimation of hidden state)