Title :
Mechanical construction and computer architecture of the four-legged walking machine BISAM
Author :
Berns, Karsten ; Ilg, Winfried ; Deck, M. ; Albiez, J. ; Dillmann, Rüdiger
Author_Institution :
Interactive Diagnosis & Service-Syst., Forschungs. Inf. Karlsruhe, Germany
fDate :
3/1/1999 12:00:00 AM
Abstract :
Presents a biologically inspired design of a four-legged walking machine. It offers the possibility to investigate reptile- and mammal-like walking with one mechanical concept. A flexible spinal column will support walking with better stability. For the control of the machine, a hierarchical organized computer architecture and a modular software concept are presented
Keywords :
image sensors; legged locomotion; robot vision; stereo image processing; BISAM four-legged walking machine; computer architecture; flexible spinal column; mammal-like walking; mechanical construction; modular software concept; reptile-like walking; Biological control systems; Computer architecture; Control systems; Foot; Kinematics; Leg; Legged locomotion; Magnetic heads; Stability; System recovery;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/3516.752082
