Title :
The mammalian-like quadrupedal walking machine BISAM
Author :
Berns, E. ; Ilg, W. ; Deck, M. ; Dillmann, R.
Author_Institution :
Interaktive Diagnose- und Servicesysteme, Forschungszentrum Informatik Karlsruhe, Germany
fDate :
29 Jun-1 Jul 1998
Abstract :
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
Keywords :
adaptive control; hierarchical systems; legged locomotion; neurocontrollers; oscillators; robot kinematics; BISAM; biologically inspired adaptive control concept; flexible spine; four-legged walking machine; hierarchical organized control hardware; mammal-like walking; mammalian-like quadrupedal walking machine; neuro-oscillators; reptile-like walking; Actuators; Adaptive control; Biological control systems; Biological system modeling; Control systems; Hardware; Leg; Legged locomotion; Magnetic heads; Robot kinematics;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743575
