Adaptive running of a quadruped robot on irregular terrain based on biological concepts

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2003, Pages 2043-2048

  Zhang, Z G ^a   Fukuoka, Y ^a   Kimura, H ^a  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; CONTROL SYSTEM ANALYSIS; DAMPING; DEGREES OF FREEDOM (MECHANICS); DYNAMIC MECHANICAL ANALYSIS; GAIN CONTROL; NEURAL NETWORKS;

CENTRAL PATTERN GENERATOR; QUADRUPED ROBOT; VIRTUAL SPRING DAMPER SYSTEM;

MOBILE ROBOTS;

EID: 0344877259     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. M.H. Raibert: "Legged Robots That Balance.", MIT Press, 1985.
2. M. Buehler et al. "Scout: A simple quadruped that walks, climbs and runs," Proc. of ICRA98, pp. 1707-1712, 1998.
3. U. Saranli, M. Buehler, and D.E. Koditschek: "RHex: a simple and highly mobile hexapod robot," Int. J. Robotics Research, vol. 20, no. 7, pp.616-631, 2001.
4. M.A. Lewis, R. Etienne-Cummings, A.H. Cohen, and M. Hartmann: "Toward biomorphic control using a custom a VLSI CPG chips," Proc. of ICRA2000, pp. 1289-1295, 2000.
5. K. Tsujita, K. Tsuchiya and A. Onat: "Adaptive Gait Pattern Control of a Quadruped Locomotion Robot" Proc. of IROS2001, pp. 2318-2325, Nov. 2001.
6. H. Kimura, K. Sakurama and S. Akiyama: "Realization of Dynamic Walking and Running of the Quadruped Using Neural Oscillator", Autonomous Robots, pp.247-258, 1999.
7. R.J. Full, and D.E. Koditschek: "Templates and anchors: neuromechanical hypotheses of legged locomotion on land" J. of Experimental Biology, vol.202, pp.3325-3332, 1999
8. K. Matsuoka: "Mechanisms of Frequency and Pattern Control in the Neural Rhythm Generators," Biolog. Cybern, vol.56, pp.345-353, 1987.
9. G. Taga, Y. Yamaguchi, and H. Shimizu: "Self-organized control of bipedal locomotion by neural oscillators," Biolog. Cybern., vol.65, pp.147-159, 1991.
10. H. Kimura, Y. Fukuoka, Y. Hada, K. Takase: "Three-dimensional Adaptive Dynamic Walking of a Quadruped - rolling motion feedback to CPGss controlling pitching motion -" Proc. of ICRA2002 pp. 2228-2233, 2002.
11. S.H. Hyon and T. Mita: "Development of a Biologically Inspired Hopping Robot - 'Kenken"' Proc. of ICRA2002 pp. 3984-3991, 2002.
12. J.K. Hodgins and M.H. Raibert: "Adjusting step length for rough terrain locomotion" IEEE trans. on Robotics and Autonomation. 7(3):289-298
13. Jorge G. Cham, Jonathan Karpick, Jonathan E. Clark, Mark R. Cutkosky, "Stride Period Adaptation for a Biomimetic Running Hexapod," Int. Symposium of Robotics Research, Lome, Victoria, Australia, Nov. 9-12, 2001.
14. Berkemeier M. D., "Modeling the Dynamics of Quadrupedal Running," The Int. J. of Robotics Research, Vol. 17, No. 9, pp.971-985, 1998.