Legged robots that balance
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
Locomotion Control of a Biped Robot Using Nonlinear Oscillators
Autonomous Robots
A Reflexive Neural Network for Dynamic Biped Walking Control
Neural Computation
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts
International Journal of Robotics Research
Robotics and Autonomous Systems
Timed trajectory generation using dynamical systems: Application to a Puma arm
Robotics and Autonomous Systems
Development of Adaptive Modular Active Leg (AMAL) using bipedal robotics technology
Robotics and Autonomous Systems
Design of central pattern generators (CPGS) for trajectory tracking of fish-mimetic robots
CIMMACS'08 Proceedings of the 7th WSEAS international conference on Computational intelligence, man-machine systems and cybernetics
Dynamically running quadrupeds self-stable region expansion by mechanical design
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Stable dynamic walking of a quadruped via phase modulations against small disturbances
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Stereo vision and terrain modeling for quadruped robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
CPG driven locomotion control of quadruped robot
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
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
Intelligent Control of High-Speed Turning in a Quadruped
Journal of Intelligent and Robotic Systems
Robotics and Autonomous Systems
Central pattern generators based adaptive control for a quadruped robot
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
International Journal of Robotics Research
Roombots: reconfigurable robots for adaptive furniture
IEEE Computational Intelligence Magazine
The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion
International Journal of Robotics Research
Design of a bionic saltatorial leg for jumping mini robot
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach
Robotics and Autonomous Systems
Improving traversability of quadruped walking robots using body movement in 3D rough terrains
Robotics and Autonomous Systems
RT-Mover: a rough terrain mobile robot with a simple leg-wheel hybrid mechanism
International Journal of Robotics Research
Robotics and Autonomous 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
Robotics and Autonomous Systems
Robotics software frameworks for multi-agent robotic systems development
Robotics and Autonomous Systems
CPG modulation for navigation and omnidirectional quadruped locomotion
Robotics and Autonomous Systems
Development and field testing of the FootFall planning system for the ATHLETE robots
Journal of Field Robotics
Modeling and animating myriapoda: a real-time kinematic/dynamic approach
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Self-stabilising quadrupedal running by mechanical design
Applied Bionics and Biomechanics
Optimal limb length ratio of quadruped robot minimising joint torque on slopes
Applied Bionics and Biomechanics
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The paper reports on a project to make a quadruped robot walk with medium forward speed on irregular terrain in an outdoor environment using a neural system model. The necessary conditions for stable dynamic walking on irregular terrain in general are proposed, and the neural system is designed by comparing biological concepts with those necessary conditions described in physical terms. A PD-controller is used at joints to construct a virtual spring—damper system as the visco-elasticity model of a muscle. The neural system model consists of a CPG (central pattern generator), responses and reflexes. A response directly and quickly modulates the CPG phase, and a reflex directly generates joint torque. The state of the virtual spring—damper system is switched, based on the CPG phase. In order to make a self-contained quadruped (called Tekken2) walk on natural ground, several new reflexes and responses are developed in addition to those developed in previous studies. A flexor reflex prevents a leg from stumbling on small bumps and pebbles. A sideways stepping reflex stabilizes rolling motion on a sideways inclined slope. A corrective stepping reflex/response prevents the robot from falling down in the case of loss of ground contact. A crossed flexor reflex helps a swinging leg keep enough clearance between the toe and the ground. The effectiveness of the proposed neural system model control and especially the newly developed reflexes and responses are validated by indoor and outdoor experiments using Tekken2. A CPG receives sensory feedback as a result of motions induced by reflexes, and changes the period of its own active phase. Since a CPG has the ability of mutual entrainment with pitching motion of legs and rolling motion of the body in addition, the consistency between motion of a leg temporally modified by a reflex and motions of the other legs is maintained autonomously. It is shown that CPGs can be the center of sensorimotor coordination, and that the neural system model simply defining the relationships between CPGs, sensory input, reflexes and mechanical system works very well even in complicated tasks such as adaptive dynamic walking on unstructured natural ground.