Biologically Inspired Approaches for Locomotion of a Hexapod Robot OSCAR

  • Bojan Jakimovski
Part of the Cognitive Systems Monographs book series (COSMOS, volume 14)


Different types of walking gait generation approaches have been considered for walking by various multi-legged robots. Some of them are based on mathematical formulations [PaH09] or inverse kinematic models [ShT07] trying to mathematically model and describe the kinematics of the robot movements and also the interaction of the robot with the environment. This may prove difficult since completely modeling the robot and its interaction with the environment and other environmental influences on proper working of robotic components is very complex.


Stance Phase Gait Pattern Central Pattern Generator Swing Phase Robot Walking 
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© Springer-Verlag Berlin Heidelberg 2011

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  • Bojan Jakimovski

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