A walking machine is a system that presents many important control problems, since the dynamics of the machine changes with its configuration, especially when it has to obey a specific gait. However, minor attention has been paid to this difficulty. To ensure a good performance, this paper presents a simple, practical methodology for tuning the individual joint controller when it is subject to a specific gait. This methodology consists in a look-up table that updates filter parameters. This paper will consider the discontinuous gait and identify the main dynamic phases. It will also extend the same methodology to the wave crab gait. Some experiments performed on the RIMHO machine are reported, ending with comments and conclusion.
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