Name
Title | ||
|---|---|---|
Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot |
Abstract | ||
|---|---|---|
Distributed control and local leg reflexes enable insects to cope easily with terrain that would defeat many legged robots. An insect-like hexapod robot incorporating biologically based control effectively responded to mechanical perturbations using active and passive compliance and a local stepping reflex. An elevator reflex and a searching reflex addressed unexpected obstacles and loss of support, respectively. The robot exhibited a range of gaits using stick-insect-based distributed control mechanisms and negotiated irregular, slatted and compliant surfaces with this biologically based control strategy. |
Year | DOI | Venue |
|---|---|---|
1996 | 10.1016/0921-8890(96)00003-6 | ROBOTICS AND AUTONOMOUS SYSTEMS |
Keywords | Field | DocType |
hexapod,legged robots,rough terrain locomotion,stick-insect,biologically inspired control | Gait,Computer science,Simulation,Reflex,Elevator,Autonomous system (mathematics),Artificial intelligence,Control system,Robot,Hexapod,Robotics | Journal |
Volume | Issue | ISSN |
18 | 1-2 | 0921-8890 |
Citations | PageRank | References |
49 | 11.23 | 2 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kenneth S. Espenschied | 1 | 191 | 52.26 |
| Roger D. Quinn | 2 | 952 | 208.66 |
| Randall D. Beer | 3 | 1604 | 257.51 |
| Hillel J. Chiel | 4 | 130 | 26.04 |