Adaptive dynamic walking of a quadruped robot 'Tekken' on irregular terrain using a neural system model

2004 ◽  
Author(s):  
Y. Fukuoka ◽  
H. Kimura ◽  
Y. Hada ◽  
K. Takase
Keyword(s):  
Neural System ◽  
Quadruped Robot ◽  
System Model ◽  
Dynamic Walking ◽  
Irregular Terrain ◽  
Adaptive Dynamic

Adaptive dynamic walking of a quadruped robot using a neural system model

2001 ◽  
Vol 15 (8) ◽  
pp. 859-878 ◽  
Author(s):  
Hiroshi Kimura ◽  
Yasuhiro Fukuoka ◽  
Ken Konaga
Keyword(s):  
Neural System ◽  
Quadruped Robot ◽  
System Model ◽  
Dynamic Walking ◽  
Adaptive Dynamic

Biologically inspired adaptive walking of a quadruped robot

2006 ◽  
Vol 365 (1850) ◽  
pp. 153-170 ◽  
Author(s):  
Hiroshi Kimura ◽  
Yasuhiro Fukuoka ◽  
Avis H Cohen
Keyword(s):  
Necessary Conditions ◽  
Neural System ◽  
Quadruped Robot ◽  
System Model ◽  
Neural Systems ◽  
Biologically Inspired ◽  
Irregular Terrain ◽  
Quadruped Robots ◽  
Model Control ◽  
Biological Concepts

We describe here the efforts to induce a quadruped robot to walk with medium-walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical and the neural systems by comparing biological concepts with those necessary conditions described in physical terms. PD-controller at joints constructs the virtual spring–damper system as the viscoelasticity model of a muscle. The neural system model consists of a central pattern generator (CPG), reflexes and responses. We validate the effectiveness of the proposed neural system model control using the quadruped robots called ‘Tekken1&2’. MPEG footage of experiments can be seen at http://www.kimura.is.uec.ac.jp .

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