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A Behaviour Network Concept for Controlling Walking Machines

  • Chapter
Adaptive Motion of Animals and Machines

Abstract

The high complexity of the mechanical system and the difficult task of walking itself makes the task of designing the control for legged robots a diffcult one. Even if the implementation of parts of the desired functionality, like posture control or basic swing/stance movement, can be solved by the usage of classical engeneering approaches, the control of the overall system tends to be very unflexible. This paper introduces a new method to combine apects of classical robot control and behaviour based control. Inspired by the activation patterns in the brain and the spinal cord of animals we propose a behaviour network architecture using special signals like activity or target rating to influencce and coordinate the behaviours. The general concept of a single behaviour as well as their interaction within the network is described. This architecture is tested on the four-legged walking machine BISAM and experimental results are presented.

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Author information

Authors and Affiliations

  1. Interactive Diagnosis- and Service Systems, Forschungszentrum Informatik Karlsruhe, Haid-und-Neu-Str. 10-14, 76131, Karlsruhe, Germany

    Jan Albiez & Rüdiger Dillmann

  2. AG Robtersysteme, Fakultät für Informatik, Universität Kaiserslautern, D-67653, Kaiserslautern, Germany

    Tobias Luksch & Karsten Berns

Authors
  1. Jan Albiez
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  2. Tobias Luksch
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  3. Karsten Berns
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  4. Rüdiger Dillmann
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Editor information

Editors and Affiliations

  1. Graduate School of Information Systems, University of Electro-Communications, 1-5-1 Chofu-ga-oka, Chofu, Tokyo, 182-8585, Japan

    Hiroshi Kimura

  2. Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto, 606-8501, Japan

    Kazuo Tsuchiya

  3. Department of Computational Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan

    Akio Ishiguro

  4. Department of Biomechatronics, Faculty of Mechanical Engineering, Technical University of Ilmenau, Pf 10 05 65, D-98684, Ilmenau, Germany

    Hartmut Witte

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© 2006 Springer-Verlag Tokyo

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Albiez, J., Luksch, T., Berns, K., Dillmann, R. (2006). A Behaviour Network Concept for Controlling Walking Machines. In: Kimura, H., Tsuchiya, K., Ishiguro, A., Witte, H. (eds) Adaptive Motion of Animals and Machines. Springer, Tokyo. https://doi.org/10.1007/4-431-31381-8_21

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  • DOI: https://doi.org/10.1007/4-431-31381-8_21

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-24164-5

  • Online ISBN: 978-4-431-31381-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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