The mammalian-like quadrupedal walking machine BISAM

Presents the biologically inspired design of our four-legged walking machine BISAMc. It offers the possibility to investigate reptile- and mammal-like walking with only one mechanical realization. A flexible spine supports walking with better stability. For the control of the machine, a hierarchical organized control hardware and a biologically inspired adaptive control concept based on neuro-oscillators is presented.