A Biologically Inspired Approach Toward Autonomous Real-World Robots

  • Frank KirchnerEmail author
  • Dirk Spenneberg
Part of the Topics in Biomedical Engineering International Book Series book series (ITBE)


We present an approach inspired by biological principles to design the control system for an eight-legged walking robot. The approach is based on two biological control primitives: central pattern generators and coupled reflexes. By using these mechanisms we can achieve omnidirectional walking and smooth gait transitions in a high-degree-of-freedom (14) walking machine. Additionally, the approach allows us to freely mix rhythmic activity with posture changes of the robot without reducing forward speed. This approach has proved to be extremely successful on rough terrain and has been evaluated in real-world tests over a variety of different substrates.


Central Pattern Generator Walking Robot Distal Joint Master Controller Artificial Intelligence Research 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Inc. 2006

Authors and Affiliations

  1. 1.Department of Computer ScienceUniversity of BremenBremenGermany

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