Name
Abstract | ||
|---|---|---|
In this paper we will present the architecture of the planar biped robot "Runflot". It has been developed on the basis of three hierarchical levels: Biomechanical, Local and Central. The biomechanical level concerns an appropriate biomechanical design of RunBot which utilizes some principles of passive walkers to ensure stability. The local level is a low-level neuronal structure which generates dynamically stable gaits as well as fast motions With some degree of self-stabilization to guarantee basic robustness. In the central level, we simulate a mechanism for synaptic plasticity which allows RunBot to autonomously learn to adapt its locomotion to different terrains' e.g. level floor versus up or down a ramp. As a result, the structural coupling of all these levels generates adaptive, fast dynamic walking of RunBot. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ISCAS.2007.378261 | 2007 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1-11 |
Keywords | Field | DocType |
computer architecture,foot,synaptic plasticity,servomotors,robots,leg,pulse width modulation | Architecture,Coupling,Gait,Computer science,Control theory,Terrain,Control engineering,Robustness (computer science),Planar,Robot | Conference |
ISSN | Citations | PageRank |
0271-4302 | 3 | 0.48 |
References | Authors | |
6 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Poramate Manoonpong | 1 | 94 | 11.02 |
| Tao Geng | 2 | 123 | 11.17 |
| Bernd Porr | 3 | 433 | 41.05 |
| Florentin Wörgötter | 4 | 1304 | 119.30 |