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In this article, we propose a bio-inspired architecture for a quadruped robot that is able to initiate/stop locomotion; generate different gaits, and to easily select and switch between the different gaits according to the speed and/or the behavioral context. This improves the robot stability and smoothness while locomoting. We apply nonlinear oscillators(More)
The ability to traverse a wide variety of terrains while walking is basically a requirement for performing useful tasks in our human centric world. In this article, we propose a bio-inspired robotic controller able to generate locomotion and to easily switch between different type of gaits. In order to improve the robot stability and response while(More)
This paper presents a gait multi-objective optimization system that combines bio-inspired Central Patterns Generators (CPGs) and a multi-objective evolutionary algorithm. CPGs are modeled as autonomous differential equations, that generate the necessary limb movement to perform the required walking gait. In order to optimize the walking gait, four(More)
Trajectory modulation and generation are two fundamental issues in the path planning problem in autonomous robotics, specially considering temporal stabilization of the generated movements. This is a very critical issue in several robotic tasks including: catching, hitting, and human-robot scenarios.