Adaptive periodic movement control for the four legged walking machine BISAM
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (10504729) , 2354-2359
- https://doi.org/10.1109/robot.1999.770457
Abstract
Presents an adaptive control architecture for the four legged walking machine BISAM. This architecture uses coupled neuro-oscillators as representation of periodic behaviours on different control levels such as joint movement, leg control and leg coordination. Coupled neuro-oscillators together with adaptive sensor based reflexes provide a robust and efficient representation for quadrupedal locomotion and support the use of online learning approaches to realize adaptation and optimization of locomotion behaviours.Keywords
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