Title :
Adaptive control of the four-legged walking machine BISAM
Author :
Berns, K. ; Ilg, W. ; Deck, M. ; Dillmann, R.
Author_Institution :
Haid-und-Str., Karlsruhe, Germany
Abstract :
Presents a biologically inspired design of a four-legged walking machine. 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; legged locomotion; neurocontrollers; radial basis function networks; robot kinematics; stability; BISAM; biologically inspired adaptive control concept; flexible spine; four-legged walking machine; hierarchical organized control hardware; mammal-like walking; neuro-oscillators; reptile-like walking; Actuators; Adaptive control; Biological control systems; Control systems; Hardware; Kinematics; Leg; Legged locomotion; Magnetic heads; Stability;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.728478
