A biologically inspired four legged walking robot

This paper presents the design and implementation of a biologically inspired four legged walking robot, with a certain level of comparable complexities and similarities to its biological counterpart. A four-phase walking strategy inspired from four legged animals has been proposed and implemented in...

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Bibliographic Details
Published in2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Vol. 2; pp. 2024 - 2030 vol.2
Main Authors Peng, S., Lam, C.P., Cole, G.R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Animals
Artificial intelligence
Biological systems
Biology
Design engineering
Gravity
Leg
Legged locomotion
Parallel robots
Robot sensing systems
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Summary:This paper presents the design and implementation of a biologically inspired four legged walking robot, with a certain level of comparable complexities and similarities to its biological counterpart. A four-phase walking strategy inspired from four legged animals has been proposed and implemented in the robot. Four parallel Subsumption Architectures and a simple Central Pattern Generator are used in the robot for physical implementation. Experimental results demonstrate that the robot employs the proposed walking strategy and can successfully carry out its walking behaviours under various experimental terrain conditions, such as flat ground, incline, decline and uneven ground.
ISBN:0780377362
9780780377363
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1241891