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A Hybrid Locomotion Control Approach

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Book cover Climbing and Walking Robots

Abstract

This paper presents the joint control part of a new hybrid locomotion control concept. The concept is based on a CPG-model, a reflex model inspired by artificial neurons, and a posture control model. It has been successfully tested on the 8-legged walking robot SCORPION.

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References

  1. Kirchner, Frank, Spenneberg, Dirk, and Linnemann, Ralf (2002) A biologically inspired approach towards robust real world locomotion in an 8-legged robot. In Neurotechnology for Biomimetic Robots, Ayers, J., Davis, J., and Rudolph, A., Eds. MIT-Press, Cambridge, MA, USA.

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Author information

Authors and Affiliations

  1. Robotics Group, University of Bremen, Department of Mathematics and Computer Science, Bibliothekstr. 1, D-28359, Bremen, Germany

    Dirk Spenneberg

Authors
  1. Dirk Spenneberg
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Editor information

Editors and Affiliations

  1. Department of Automatic Control and, System Engineering, University Sheffield, Mappin Street, S1 3JD, Sheffield, UK

    M. O. Tokhi

  2. Department of Mechanical Engineering, University Leeds, LS2 9JT, Leeds, UK

    G. S. Virk

  3. Department of Computing, University of Bradford, Richmond Road, BD7 1DP, Bradford, UK

    M. A. Hossain

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© 2006 Springer-Verlag Berlin Heidelberg

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Spenneberg, D. (2006). A Hybrid Locomotion Control Approach. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_28

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  • DOI: https://doi.org/10.1007/3-540-26415-9_28

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-26413-2

  • Online ISBN: 978-3-540-26415-6

  • eBook Packages: EngineeringEngineering (R0)

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