Abstracted Biological Principles Applied with Reduced Actuation Improve Mobility of Legged Vehicles

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 2003, Pages 1370-1375

  Allen, Thomas J ^a   Quinn, Roger D ^a   Bachmann, Richard J ^a   Ritzmann, Roy E ^a  

^a CASE WESTERN RESERVE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DC MOTORS; FEEDBACK; GAIT ANALYSIS; PATENTS AND INVENTIONS; PROBLEM SOLVING; PROPULSION; SENSORS;

BIOLOGICAL SYSTEMS; MASS RATIO;

MOBILE ROBOTS;

EID: 0348040440     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

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2. Flannigan, W. C., Nelson, G. M., and Quinn, R. D., (1998) Locomotion controller for a crab-like robot. 1998 IEEE International Conference on Robotics and Automation (ICRA'98), Leuven, Belgium, pp. 152-156.
3. Full, R. J., R. Blickhan and L. H. Ting (1991). Leg design in hexapedal runners. J. exp. Biol. 158: 369-390.
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8. Quinn, R.D., Nelson, G.M., Ritzmann, R.E., Bachmann, R.J., Kingsley, D.A., Offi, J.T. and Allen, T.J. (2003), Parallel Strategies For Implementing Biological Principles Into Mobile Robots. Int. Journal of Robotics Research.
9. Ritzmann, R.E., Rice, C.M., Pollack, A.J., Ridgel, A.L. Kingsley, D.A. and Quinn, R.D. (2001) Roles of descending control in locomotion through complex terrain. Congress of Neuroethology. 6, pg. 234.
10. Saranli, U., Buehler, M. and Koditschek, D., (2000). Design, modeling and preliminary control of a compliant hexapod robot. 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, 2589-2596.
11. Saranli, U., Buehler, M. and Koditschek, D. (2001). RHex a simple and highly mobile hexapod robot. Int. J. Robotics Research, 20(7): 616-631.
12. Watson, J.T., Ritzmann, R.E. (1998) "Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis: I. Slow running," J. Comp. Physiology, Vol. 182: 11-22.
13. Watson, J.T., Ritzmann, R.E., Zill, S.N., Pollack, A.J. (2002) "Control of obstacle climbing in the cockroach, Blaberus discoidalis: I. Kinematics," J. Comp. Physiology Vol. 188: 39-53.
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