Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts

  title={Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts},
  author={Yasuhiro Fukuoka and Hiroshi Kimura and Avis H. Cohen},
  journal={I. J. Robotics Res.},
We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical system and the neural system by comparing biological concepts with those necessary conditions described in physical terms. A PD controller at the joints can construct the virtual spring–damper system as the visco-elasticity model of a muscle… CONTINUE READING
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