Locomotion control of a multi-legged locomotion robot using oscillators

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

Volumn 4, Issue , 2002, Pages 139-144

  Tsuchiya, Kazuo ^a   Aoi, Shinya ^a   Tsujita, Katsuyoshi ^a  

^a KYOTO UNIVERSITY   (Japan)

Author keywords

Central pattern generator model; Locomotion control; Multi legged locomotion robot

Indexed keywords

ACTUATORS; EQUATIONS OF MOTION; FEEDBACK CONTROL; GAIT ANALYSIS; LINEAR CONTROL SYSTEMS; MATHEMATICAL MODELS; MOTION CONTROL; OSCILLATORS (ELECTRONIC); SENSORY FEEDBACK;

CENTRAL PATTERN GENERATORS (CPG);

MOBILE ROBOTS;

EID: 0036971770     PISSN: 08843627     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (4)

1. Special Issue on Biomimetic Robotics, Robotics and Autonomous Systems, vol. 30, 2000.
2. Cruse, H. Kindermann, Th., Schumm, M., Dean, J. and Schmitz, J., "Walknet - a biologically inspired network to control six-legged walking," Neural Networks, vol. 11, pp. 1435-1447, 1998.
3. Grillner, S., "Neurobiological basis of rhythmic motor acts in vertebrates," Science, vol. 228, pp. 143-149, 1985.
4. K.Tsujita, K.Tsuchiya and Onat, A., "Adaptive gait pattern control of a quadruped locomotion robot," Proc. of the 2001 IEBE/RSJ Int. Conf. on Intelligent Robots and Systems, Maui, Hawaii, USA, pp. 2318-2325, 2001.