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Robust control of a humanoid robot using a bio-inspired approach based on central pattern generators, reflexes, and proprioceptive feedback

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2 Author(s)
Bartsch, S. ; Dept. of Math. & Comput. Sci., Bremen Univ., Bremen ; Kirchner, F.

This paper presents a biologically inspired control approach for the locomotion of humanoid robots based on a central pattern generator concept with additional balancing behavior which was tested on BIN-HUR, a modified Kondo KHR-1 robot equipped with a custom-made micro-controller board. The software concept is built up on a new behavior-based microkernel named Monster.

Published in:

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Date of Conference:

17-20 Dec. 2006