Randall D. Beer
- 1 Beer, R.D., Chiel, H.J., Quinn, R.D., Espenschied, K. and Larsson, P. A distributed neural network architecture for hexapod robot locomotion. Neural Computation 4, 3 (1992), 356-365. Google Scholar
Digital Library
- 2 Beer, R.D., Chiel, H.J. and Sterling, L.S. Heterogeneous neural networks for adaptive behavior in dynamic environments. In Neural Information Processing Systems 1, D.S. Touretzky, Ed. Morgan Kauffman, 1989, 577-585. Google ScholarDigital Library
- 3 Beer, R.D. and Gallagher, J.G. Evolving dynamical neural networks for adaptive behavior. Adaptive Behavior 1 (1992), 92-122. Google ScholarDigital Library
- 4 Beer, R.D, Ritzmann, R.E., and McKenna, T., Eds. Biological Neural Networks in Invertebrate Neuroethology and Robotics. Academic Press, San Diego, 1993.Google Scholar
- 5 Chiel, H.J., Beer, R.D., Quinn, R.D., and Espenshied, K. Robustness of a distributed neural network controller for a hexapod robot. IEEE Trans. Robotics and Automation 8, 3 (1992), 293-303.Google ScholarCross Ref
- 6 Cruse, H. What mechanisms coordinate leg movement in walking arthropods? Trends in Neuroscience 13 (1990), 15-21.Google ScholarCross Ref
- 7 Espenschied, K.S., Quinn, R.D., Beer, R.D. and Chiel, H.J. Biologically-based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot. Robotics and Autonomous Systems 18 (1996), 59-64.Google ScholarCross Ref
- 8 Espenschied, K.S., Quinn, R.D., Chiel, H.J. and Beer, R.D. Leg coordination mechanisms in stick insect applied to hexapod robot locomotion. Adaptive Behavior 1, 4 (1993), 455-468. Google ScholarDigital Library
- 9 Espenschied, K.S., Quinn, R.D., Chiel, H.J. and Beer, R.D. Biologically-inspired hexapod robot control. In Proceedings oft he Fij% International Symposium on Robotics and Manufacturing (Maui, Hawaii, Aug. 14-18, ), 1994.Google Scholar
- 10 Gallagher, J.G., Beer, R.D., Espenshied, K. and Quinn, R.D. Application of evolved locomotion controllers to a hexapod robot. Robotics and Autonomous Systems (in press).Google Scholar
- 11 Pearson, K.G. The control of walking. Scientific American 235 (1976), 72-86.Google ScholarCross Ref
- 12 Pearson, K.G. and Franklin, R. Characteristics of leg movements and patterns of coordination in locusts walking on rough terrain. InternationalJ. Robotics Research 3 (1984), 101-112.Google ScholarCross Ref
Index Terms
- Biologically inspired approaches to robotics: what can we learn from insects?
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Bruce A. MacDonald
The authors briefly summarize several years' work on designing and building robot walking systems. Analysis and synthesis of walking insect gaits are combined in the creation of both simulations and real walking robots. This approach is shown to solve a common problem of autonomous robots: they are often brittle, unable to cope with the variety of circumstances that occur in practical environments. Insect walking is complex, yet understandable, and is very suggestive for robot designs. The group's experience is that copying biological models is often successful. For example, a distributed neural network controller for a hexapod robot is based on cockroach walking. A robot inspired by the stick insect is able to walk on irregular terrain. Each leg has four degrees of freedom. The robot's distributed controller includes reflexes for maintaining a stable posture, correcting leg placement, stepping over vertical obstructions, and probing for footholds when there is none immediately below a foot. The work is now moving on to running and climbing robots. Insects continue to offer many ideas for these problems. The paper is a good initial overview for both newcomers and interested researchers. References point to further details.
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