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A modular network for legged locomotion
Physica D
Omnidirectional Locomotion for Quadruped Robots
RoboCup 2001: Robot Soccer World Cup V
Neural Networks - 2004 Special issue: New developments in self-organizing systems
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
Robotics and Autonomous Systems
Self-organized adaptive legged locomotion in a compliant quadruped robot
Autonomous Robots
Timed trajectory generation using dynamical systems: Application to a Puma arm
Robotics and Autonomous Systems
Machine learning for fast quadrupedal locomotion
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A brainstem-like modulation approach for gait transition in a quadruped robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Adaptive four legged locomotion control based on nonlinear dynamical systems
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
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Navigation in biological mechanisms represents a set of skills needed for the survival of individuals, including target acquisition and obstacle avoidance. In this article, we focus on the development of a quadruped locomotion controller able to generate omnidirectional locomotion and a path planning controller for heading direction. The heading direction controller is able to adapt to sensory-motor visual feedback, and online adapt its trajectory according to visual information that modifies the control parameters. This allows for integration of sensory-motor feedback and closed-loop control. This issue is crucial for autonomous and adaptive control, and has received little attention so far. This modeling is based on the concept of dynamical systems. We present experiments performed on a real AIBO platform. The obtained results demonstrate both the adequacy of the proposed locomotor controller to generate the required trajectories and to generate the desired movement in terms of the walking velocity, orientation and angular velocity. Further, the controller is demonstrated on a simulated quadruped robot which walks towards a visually acquired target while avoiding online-visually detected obstacles in its path.