A distributed neural network architecture for hexapod robot locomotion
Neural Computation
Biologically inspired approaches to robotics: what can we learn from insects?
Communications of the ACM
Biped Locomotion
Certain Principles of Biomorphic Robots
Autonomous Robots
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
A Reflexive Neural Network for Dynamic Biped Walking Control
Neural Computation
Optimal Mass Distribution for Passivity-Based Bipedal Robots
International Journal of Robotics Research
Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization
International Journal of Robotics Research
Objective locomotion parameters based inverted pendulum trajectory generator
Robotics and Autonomous Systems
Controlling the Walking Speed in Limit Cycle Walking
International Journal of Robotics Research
YARS: A Physical 3D Simulator for Evolving Controllers for Real Robots
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Policy Learning --- A Unified Perspective with Applications in Robotics
Recent Advances in Reinforcement Learning
International Journal of Robotics Research
Development of Adaptive Modular Active Leg (AMAL) using bipedal robotics technology
Robotics and Autonomous Systems
Efference copies in neural control of dynamic biped walking
Robotics and Autonomous Systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On the information theoretic implications of embodiment - principles and methods
50 years of artificial intelligence
A study of adaptive locomotive behaviors of a biped robot: patterns generation and classification
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL
International Journal of Robotics Research
Robotics and Autonomous Systems
Construction of gait adaptation model in human splitbelt treadmill walking
Applied Bionics and Biomechanics
Smooth and energy saving gait planning for humanoid robot using geodesics
Applied Bionics and Biomechanics - Personal Care Robotics
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In this paper, we present our design and experiments on a planar biped robot under the control of a pure sensor-driven controller. This design has some special mechanical features, for example small curved feet allowing rolling action and a properly positioned center of mass, that facilitate fast walking through exploitation of the robot's natural dynamics. Our sensor-driven controller is built with biologically inspired sensor- and motor-neuron models, and does not employ any kind of position or trajectory tracking control algorithm. Instead, it allows our biped robot to exploit its own natural dynamics during critical stages of its walking gait cycle. Due to the interaction between the sensor-driven neuronal controller and the properly designed mechanics of the robot, the biped robot can realize stable dynamic walking gaits in a large domain of the neuronal parameters. In addition, this structure allows the use of a policy gradient reinforcement learning algorithm to tune the parameters of the sensor-driven controller in real-time, during walking. This way RunBot can reach a relative speed of 3.5 leg lengths per second after only a few minutes of online learning, which is faster than that of any other biped robot, and is also comparable to the fastest relative speed of human walking.