Postural stability is a requirement for autonomous adaptive legged locomotion. Neurobiological research lead to the idea that there are independent central systems for posture and locomotion, which interact when required.
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)
Quadruped locomotion on rough terrain and un-predictable environments is still a challenge, where the concept of Central Pattern Generators (CPG) has brought interesting ideas.
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)
—The ability of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and switch between different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators formulated as nonlinear… (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.