Biologically Inspired Approaches to Robotics

Communications of the ACM

Volumn 40, Issue 3, 1997, Pages 30-38

  Beer, Randall D ^a   Quinn, Roger D ^a   Chiel, Hillel J ^b   Ritzmann, Roy E ^b  

^a Case Western Reserve University ^*  (United States)

^b CASE WESTERN RESERVE UNIVERSITY SCHOOL OF MEDICINE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DISTRIBUTED GAIT CONTROL; DISTRIBUTED NEURAL NETWORK CONTROLLER; LOCOMOTION CONTROLLERS; WALKING;

BIPED LOCOMOTION; DEGREES OF FREEDOM (MECHANICS); DISTRIBUTED PARAMETER CONTROL SYSTEMS; FEEDBACK; GAIT ANALYSIS; NEURAL NETWORKS; ROBOT APPLICATIONS;

ROBOTICS;

EID: 0031104227     PISSN: 00010782     EISSN: 15577317     Source Type: Journal    
DOI: 10.1145/245108.245118     Document Type: Article

References (12)

1. Beer, R. D., Chiel, H. J., Quinn, R. D., Espenschied, K. and Larsson, P. A distributed neural network architecture for hexapod robot locomotion. Neural Computation 4, 3 (1992), 356-365.
2. Beer, R. D., Chiel, H. J. and Sterling, L. S. Heterogeneous neural networks for adaptive behavior in dynamic environments. In Neural Information Processing Systems I. D. S. Touretzky, Ed. Morgan Kauffman, 1989, 577-585.
3. Beer, R. D. and Gallagher, J. G. Evolving dynamical neural networks for adaptive behavior. Adaptive Behavior 1 (1992), 92-122.
4. Beer, R. D., Ritzmann, R. E., and McKenna, T., Eds. Biological Neural Networks in Invertebrate Neuroethology and Robotics. Academic Press, San Diego, 1993.
5. Chiel, H. J., Beer, R. D., Quinn, R. D., and Espenshied, K. Robustness of a distributed neural network controller for a hexapod robot. IEEE Trans. Robotics and Automation 8, 3 (1992), 293-303.
6. Cruse, H. What mechanisms coordinate leg movement in walking arthropods? Trends in Neuroscience 13 (1990), 15-21.
7. Espenschied, K. S., Quinn, R. D., Beer, R. D. and Chiel, H. J. Biologically-based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot. Robotics and Autonomous Systems 18 (1996), 59-64.
8. Espenschied, K. S., Quinn, R. D., Chiel, H. J. and Beer, R. D. Leg coordination mechanisms in stick insect applied to hexapod robot locomotion. Adaptive Behavior 1, 4 (1993), 455-468.
9. Espenschied, K. S., Quinn, R. D., Chiel, H. J. and Beer, R. D. Biologically-inspired hexapod robot control. In Proceedings of the Fifth International Symposium on Robotics and Manufacturing (Maui, Hawaii, Aug. 14-18), 1994.
10. Gallagher, J. G., Beer, R. D., Espenshied, K. and Quinn, R. D. Application of evolved locomotion controllers to a hexapod robot. Robotics and Autonomous Systems (in press).
11. Pearson, K. G. The control of walking. Scientific American 235 (1976), 72-86.
12. Pearson, K. G. and Franklin, R. Characteristics of leg movements and patterns of coordination in locusts walking on rough terrain. Interna-tional J. Robotics Research 3 (1984), 101-112.