A biologically inspired four legged walking robot

S. Peng; C.P. Lam; G.R. Cole

doi:10.1109/ROBOT.2003.1241891

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Conference paper

A biologically inspired four legged walking robot

S. Peng, C.P. Lam and G.R. Cole

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.2024-2030

IEEE Xplore

2003 IEEE International Conference on Robotics & Automation (Taipei, Taiwan, 14/09/2003–19/09/2003)

2003

DOI: https://doi.org/10.1109/ROBOT.2003.1241891

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Abstract

This paper presents the design and implementation of a biologically inspired four legged walking robot, with a certain level of comparable complexities and similarities to its biological counterpart. A four-phase walking strategy inspired from four legged animals has been proposed and implemented in the robot. Four parallel Subsumption Architectures and a simple Central Pattern Generator are used in the robot for physical implementation. Experimental results demonstrate that the robot employs the proposed walking strategy and can successfully carry out its walking behaviours under various experimental terrain conditions, such as flat ground, incline, decline and uneven ground.

Details

Title: A biologically inspired four legged walking robot
Authors/Creators: S. Peng (Author/Creator) - Murdoch University
C.P. Lam (Author/Creator)
G.R. Cole (Author/Creator)
Publication Details: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.2024-2030
Conference: 2003 IEEE International Conference on Robotics & Automation (Taipei, Taiwan, 14/09/2003–19/09/2003)
Publisher: IEEE Xplore
Identifiers: 991005540622807891
Murdoch Affiliation: School of Engineering
Language: English
Resource Type: Conference paper

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