Impact forces and mobility in legged robot locomotion

2007 ◽  
Author(s):  
Alan Bowling
Keyword(s):  
Legged Robot ◽  
Robot Locomotion ◽  
Impact Forces

A Distributed Neural Network Architecture for Hexapod Robot Locomotion

1992 ◽  
Vol 4 (3) ◽  
pp. 356-365 ◽  
Author(s):  
Randall D. Beer ◽  
Hillel J. Chiel ◽  
Roger D. Quinn ◽  
Kenneth S. Espenschied ◽  
Patrik Larsson
Keyword(s):  
Neural Network ◽  
Real World ◽  
Network Architecture ◽  
Command Neuron ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Neural Network Architecture ◽  
Insect Locomotion ◽  
Robot Locomotion ◽  
Continuous Range

We present fully distributed neural network architecture for controlling the locomotion of a hexapod robot. The design of this network is directly based on work on the neuroethology of insect locomotion. Previously, we demonstrated in simulation that this controller could generate a continuous range of statically stable insect-like gaits as the activity of a single command neuron was varied and that it was robust to a variety of lesions. We now report that the controller can be utilized to direct the locomotion of an actual six-legged robot, and that it exhibits a range of gaits and degree of robustness in the real world that is quite similar to that observed in simulation.

Detecting Usable Planar Regions for Legged Robot Locomotion

2020 ◽  
Author(s):  
Sylvain Bertrand ◽  
Inho Lee ◽  
Bhavyansh Mishra ◽  
Duncan Calvert ◽  
Jerry Pratt ◽  
...  
Keyword(s):  
Legged Robot ◽  
Robot Locomotion ◽  
Planar Regions

scholarly journals Biologically-inspired legged robot locomotion controlled with a BCI by means of cognitive monitoring

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Patricia Batres-Mendoza ◽  
Erick Israel Guerra-Hernandez ◽  
Andres Espinal ◽  
Eduardo Perez-Careta ◽  
Horacio Rostro-Gonzalez
Keyword(s):  
Legged Robot ◽  
Biologically Inspired ◽  
Robot Locomotion ◽  
Cognitive Monitoring

Energy Efficiency of Legged Robot Locomotion With Elastically-Suspended Loads Over a Range of Suspension Stiffnesses

2012 ◽  
Author(s):  
Jeffrey Ackerman ◽  
Xingye Da ◽  
Justin Seipel
Keyword(s):  
Energy Efficiency ◽  
Simple Model ◽  
Energy Cost ◽  
Legged Locomotion ◽  
Experimental Results ◽  
Legged Robot ◽  
Robot Locomotion ◽  
Cost Of Locomotion ◽  
Energy Cost Of Locomotion ◽  
Suspended Loads

Elastically suspending a load from humans and animals can increase the energy efficiency of legged locomotion and load carrying. Similarly, elastically-suspended loads have the potential to increase the energy efficiency of legged robot locomotion. External loads and the inherent mass of a legged robot, such as batteries, electronics, and fuel, can be elastically-suspended from the robot chassis with a passive compliant suspension system, reducing the energetic cost of locomotion. In prior work, we developed a simple model to examine the effect of elastically-suspended loads on the energy cost of locomotion from first principles. In this paper, we present experimental results showing the energy cost of locomotion for a simple hexapod robot over a range of suspension stiffness values. Elastically-suspended loads were shown to reduce the energy cost of locomotion by up to 20% versus a rigidly-attached load. We compare the experimental results to the theoretical results predicted by the simple model.

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