Biologically inspired adaptive walking of a quadruped robot

Abstract

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.

Simple robot suggests physical interlimb communication is essential for quadruped walking

“…There is currently no systematic methodology for designing a CPG controller; each individual CPG model has been designed on a completely ad hoc basis by focusing, in particular, on the interlimb neural connections in the CPG [11][12][13][14][15][16][17][18][19][20][21][22]. To establish a design methodology, we have reworked the design principle of CPG-based control [28,29].…”

Reducing complexness of control by intelligent mechanics in undulant swimming robots

“…This approach of reducing control effort by intelligent mechanics is also shown in the researches of Kimura et al [8] and Papadopoulus et al [13]. In addition, the work of Sproewitz et al [15] focuses on the energy effi ciency of the gait cycles of the light weighted quadruped robot Cheetah.…”

“…These modes differentiate on the one [8], Amphibot 1 = Crespi et al [2], REEL 2 = Knutson et al [9] hand in the amplitude of the elongated body. It decreases from anguilliform to ostraciiform swimming species.…”

Walking: technology and biology

“…A very successful four-legged robot was developed during the last few years by Kimura and his co-workers (see Kimura et al 2006). The walking performance of his TEKKEN series is really impressive, owing to some good ideas concerning mechanical design, but mainly owing to a very advanced design of the control system, which is based on biological findings.…”