By Topic

Adaptive dynamic walking of a quadruped robot on irregular terrain by using neural system model

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kimura, H. ; Grad. Sch. of Inf. Syst., Univ. of Electro-Commun., Chofu, Japan ; Fukuoka, Y.

We are trying to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model. We integrate several reflexes, such as a stretch reflex, a vestibulospinal reflex, and extensor/flexor reflexes, into a CPG (central pattern generator). The success in walking on terrain of medium degree of irregularity with fixed parameters of CPGs and reflexes shows that the biologically inspired control proposed in this study has an ability for autonomous adaptation to unknown irregular terrain

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

2000