Abstract
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.
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Kirchner, F., Spenneberg, D. (2006). A Biologically Inspired Approach Toward Autonomous Real-World Robots. In: Deisboeck, T.S., Kresh, J.Y. (eds) Complex Systems Science in Biomedicine. Topics in Biomedical Engineering International Book Series. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-33532-2_35
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DOI: https://doi.org/10.1007/978-0-387-33532-2_35
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