Biologically-inspired Adaptive Movement Control for a Quadrupedal Robot
Haojun Zheng, Xiuli Zhang
Biologically-inspired robot motion control has attracted a lot of interests because of its potential to make a robot
perform better and the value of such study to understand
animals’ behaviors. This paper presented a quadrupedal
robot, Biosbot, with variety of motion abilities and
adaptability to its environment. We employed biological
neural mechanisms, such as central pattern generator,
flexor reflex and postural reflex as Biosbot’s control
system, meanwhile designed its acts after its animal
counterpart, a cat. Biosbot can walk in different gaits,
transfer from one gait to another, turn, clear obstacles
and walk up and down hill autonomously, to adapt to its
environment. The successful walking experiments with
Biosbot prove the approach and control model has the
ability to improve legged robot’s performances. Full Text
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