Learning a Dynamic Horse Walking Model for a Simulator using Dynamical Movement Primitives

Horse riding simulators are developed to provide entertainment and for performing rehabilitation. To provide a clear sensation of various situations, a dynamic horse model is required. We learned a horse walking model with dynamical movement primitives (DMPs) using a configuration with two linked rimless wheels. A transformation system is designed to deal with the stride function in the model, and an extra tau(dcs) term is included to deal with the rider's speed aids. A simulation is performed, and the result shows the advantages and disadvantages of the proposed method.