Transfer of biological principles into the construction of quadruped walking machines

Author

Witte, Hartmut ; Hackert, Rémi ; Lilje, Karin E. ; Schilling, Nadja ; Voges, Danja ; Klauer, Gertrud ; Ilg, Winfried ; Albiez, Jan ; Seyfarth, André ; Germann, Daniel ; Hiller, Manfred ; Dillmann, Rüdiger ; Fischer, Martin S.

Author_Institution

Inst. fur Spezielle Zoologie und Evolutionsbiologie mit Phyletischem Museum, Friedrich-Schiller-Univ., Jena, Germany

fYear

2001

fDate

2001

Firstpage

245

Lastpage

249

Abstract

In the wide range of possible biological and technical solutions for legged terrestrial locomotion, quadrupeds represent a compromise between lightweight construction, dynamic stability, and usage of self-stabilizing effects and minimization of neural control. Several biomechanical features indicate that mammals form interesting and preferable paradigms for the construction of walking machines, even if their morphology and locomotory functions in some issues seem to be more complicated than that of the phylogenetically older amphibians and reptiles

Keywords

legged locomotion; minimisation; neurocontrollers; optimal control; robot dynamics; stability; biological principles; dynamic stability; legged terrestrial locomotion; lightweight construction; mammals; neural control minimization; quadruped walking machines; self-stabilizing effects; Animals; Biological control systems; Birds; Circuits; Evolution (biology); Leg; Legged locomotion; Lighting control; Minimization; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2001 Proceedings of the Second International Workshop on

Conference_Location

Bukowy Dworek

Print_ISBN

83-7143-515-0

Type

conf

DOI

10.1109/ROMOCO.2001.973462

Filename

973462