Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts

International Journal of Robotics Research

Volumn 22, Issue 3-4, 2003, Pages 187-202

  Fukuoka, Yasuhiro ^a   Kimura, Hiroshi ^a   Cohen, Avis H ^b  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

^b UNIVERSITY OF MARYLAND   (United States)

Author keywords

Central pattern generator (CPG); Quadruped; Walking on irregular terrain

Indexed keywords

CONTROL EQUIPMENT; FEEDBACK; MUSCLE; VISCOELASTICITY;

CENTRAL PATTERN GENERATOR (CPG);

ROBOTS;

EID: 0037645833     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364903022003004     Document Type: Conference Paper

References (39)

1. Akazawa, K., Aldridge, J. W., Steeves, J. D., and Stein, R.B. 1982. Modulation of stretch reflexes during locomotion in the mesencephalic cat. Journal of Physiology 329:553-567.
2. Beer, R. D., Chiel, H. J., and Sterling, L. S. 1991. An Artificial Insect. American Scientist 79:444-452.
3. Buehler, M., Battaglia, R., Cocosco, A., Hawker, G., Sarkis, J., and Yamazaki, K. 1998. Scout: A simple quadruped that walks, climbs and runs. In Proc. ICRA1998, pp. 1707-1712.
4. Cham, J. G., Karpick, J., Clark J. E., and Cutkosky, M. R. 2001. Stride period adaptation for a biomimetic running hexapod. In Proc. ISRR2001, pp. 77-87.
5. Chew, C. M., Pratt, J., and Pratt, G. 1999. Blind walking of a planar bipedal robot on sloped terrain. In Proc. ICRA99, pp. 381-386.
6. Cohen, A. H., and Boothe, D. L. 1999. Sensorimotor interactions during locomotion: principles derived from biological systems. Autonomous Robots 7(3):239-245.
7. Cruse, H. 1990. What mechanism coordinate leg movement in walking arthropods? Trends in Neurosciences 12:15-21.
8. Cruse, H. 2002. The functional sense of central oscillations in walking. Biological Cybernetics 86:271-280.
9. Dean J., Kindermann, T., Schmitz, J., Schumm, M., and Cruse, H. 1999. Control of walking in the stick insect: From behavior and physiology to modeling. Autonomous Robots 7(3):271-288.
10. Delcomyn, F. 1999. Walking robots and the central and peripheral control of locomotion in insects. Autonomous Robots 7(3):259-270.
11. Eltze, J., Weidemann, H. J., and Pfeiffer, F. 1992. Design of walking machines using biological principles. In Proc. IFToMM-jc, pp. 689-694.
12. Espenschied, K. S., Quinn, R. D., Beer, R. D., and Chiel, H.J. 1996. Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot. Robotics and Autonomous Systems 18:59-64.
13. Full, R. J., and Koditschek, D. E. 1999. Templates and anchors: neuromechanical hypotheses of legged locomotion on land. Journal of Experimental Biology 202:3325-3332.
14. Full, R. J. 2000. Biological inspiration: lessons from many-legged locomotors. Robotics Research 9, Hollerbach, J. M. and Koditschek, D. E., eds, Springer, London, pp. 337-341.
15. Ghez, C. 1991. Posture, Principles of Neural Science 3rd edn, Kandel, E. R., Schwartz, J. H, and Jessell, T. M., eds, Appleton & Lange, Norwalk, CT, p. 601.
16. Grillner, S. 1981. Control of locomotion in bipeds, tetrapods and fish. Handbook of Physiology II American Physiology Society, Bethesda, MD, pp. 1179-1236.
17. Hodgins, J. K., and Raibert, M. H. 1991. Adjusting step length for rough terrain locomotion. IEEE Transactions on Robotics and Automation 7(3):289-298.
18. Ijspeert, A. J. 2001. A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander. Biological Cybernetics 84:331-348.
19. Ilg, W., Albiez, J., Jedele, H., Berns, K., and Dillmann, R. 1999. Adaptive periodic movement control for the four legged walking machine BISAM. In Proc. ICRA1999, pp. 2354-2359.
20. Kajita, S., and Tani, K. 1996. Adaptive gait control of a biped robot based on real-time sensing of the ground. In Proc. ICRA1996, pp. 570-577.
21. Kimura, H., Shimoyama, I., and Miura, H. 1990. Dynamics in the dynamic walk of a quadruped robot. Advanced Robotics 4(3):283-301.
22. Kimura, H., Akiyama, S., and Sakurama, K. 1999. Realization of dynamic walking and running of the quadruped using neural oscillator. Autonomous Robots 7(3):247-258.
23. Kimura, H., Fukuoka, Y., and Konaga, K. 2001a. Adaptive dynamic walking of a quadruped robot using neural system model. Advanced Robotics 15(8):859-876.
24. Kimura, H., Fukuoka, Y., Hada, Y., and Takase, K. 2001b. 3D adaptive dynamic walking of a quadruped robot by using neural system model. In Proc. CLAWAR2001, pp. 97-104.
25. Kimura, S., Yano, M., and Shimizu, H. 1993. A Self-Organizing Model of Walking Patterns of Insects, Biological Cybernetics 69:183-193.
26. Lewis, M. A., Etienne-Cummings, Hartmann, M. J., Xu, Z. R., and Cohen, A. H. 2003. An in silico central pattern generator: silicon oscillator, coupling, entrainment, and physical computation. Biological Cybernetics 88:137-151.
27. Matsuoka, K. 1987. Mechanisms of frequency and pattern control in the neural rhythm generators. Biological Cybernetics 56:345-353.
28. Miura, H., and Shimoyama, I. 1984. Dynamical walk of biped locomotion. International Journal of Robotics Research 3(2):60-74.
29. Miyakoshi, S., Taga, G., Kuniyoshi, Y, and Nagakubo, A. 1998. Three-dimensional bipedal stepping motion using neural oscillators - Towards humanoid motion in the real world In Proc. IRSO1998, pp. 84-89.
30. Ogawa, T. et al., eds. 1998. Nanzando's Medical Dictionary 18th edn, Nanzando, Tokyo, p. 1211 (in Japanese).
31. Pearson, K. G. 1976. The control of walking. Scientific American 234(6):72-87.
32. Pearson, K. G., and Franklin, R. 1984. Characteristics of leg movements and patterns of coordination in locusts walking on rough terrain. International Journal of Robotics Research 3:101-112.
33. Saranli, U., Buehler, M., and Koditschek, D. E. 2001. RHex: a simple and highly mobile hexapod robot. International Journal of Robotics Research 20(7):616-631.
34. Taga, G., Yamaguchi, Y., and Shimizu, H. 1991. Self-organized control of bipedal locomotion by neural oscillators. Biological Cybernetics 65:147-159.
35. Taga, G. 1995. A model of the neuro-musculo-skeletal system for human locomotion II. Real-time adaptability under various constraints. Biological Cybernetics 73:113-121.
36. Takanishi, A., Takeya, T., Karaki, H., and Kato, I. 1990. A control method for dynamic biped walking under unknown external force. In Proc. IRSO1990, pp. 795-801.
37. Tsujita, K., Tsuchiya, K., and Onat, A. 2001. Adaptive Gait Pattern Control of a Quadruped Locomotion Robot. In Proc. IROS2001, pp. 2318-2325.
38. Yamaguchi, J., Takanishi, A., and Kato, I. 1994. Development of a biped walking robot adapting to a horizontally uneven surface. In Proc. IRSO1994, pp. 1156-1163.
39. Yoneda, K., Iiyama, H., and Hirose, S. 1994. Sky-hook suspension control of a quadruped walking vehicle. In Proc. ICRA1994, pp. 999-1004.