Title :
Transfer of biological principles into the construction of quadruped walking machines
Author :
Witte, Hartmut ; Hackert, Rémi ; Lilje, Karin E. ; Schilling, Nadja ; Voges, Danja ; Klauer, Gertrud ; Ilg, Winfried ; Albiez, Jan ; Seyfarth, André ; Germann, Daniel ; Hiller, Manfred ; Dillmann, Rüdiger ; Fischer, Martin S.
Author_Institution :
Inst. fur Spezielle Zoologie und Evolutionsbiologie mit Phyletischem Museum, Friedrich-Schiller-Univ., Jena, Germany
Abstract :
In the wide range of possible biological and technical solutions for legged terrestrial locomotion, quadrupeds represent a compromise between lightweight construction, dynamic stability, and usage of self-stabilizing effects and minimization of neural control. Several biomechanical features indicate that mammals form interesting and preferable paradigms for the construction of walking machines, even if their morphology and locomotory functions in some issues seem to be more complicated than that of the phylogenetically older amphibians and reptiles
Keywords :
legged locomotion; minimisation; neurocontrollers; optimal control; robot dynamics; stability; biological principles; dynamic stability; legged terrestrial locomotion; lightweight construction; mammals; neural control minimization; quadruped walking machines; self-stabilizing effects; Animals; Biological control systems; Birds; Circuits; Evolution (biology); Leg; Legged locomotion; Lighting control; Minimization; Stability;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973462
