BISAM: From small mammals to a four-legged walking machine

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4 Author(s)

In this paper we apply principles of mammalian locomotion to the development of an autonomous robot. The relevance of biological analyses to the fields of kinematics, construction and locomotor control is discussed. The control architecture presented here is based on coupled neuro-oscillators and models the locomotor behaviour of the machine on different levels. The locomotion of animals is controlled by only a small set of parameters.