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Authors: César Ferreira 1 ; Vitor Matos 1 ; Cristina P. Santos 1 and Auke Ijspeert 2

Affiliations: 1 University of Minho, Portugal ; 2 EPFL, Switzerland

ISBN: 978-989-758-039-0

Keyword(s): Quadruped Locomotion, Reflexes, Sensory Information.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Modeling, Simulation and Architectures ; Neural Networks Based Control Systems ; Robotics and Automation

Abstract: Quadruped locomotion in irregular and unknown terrains is still a problem to solve. The concept of reflexes is used in this work to contribute for the continuous search of answers about this theme. Biological researches show that spinal reflexes are crucial for a successful locomotion in the most varied terrains, so robotics investigation in this area could be a great advance in the robot’s locomotion. In this work, we present a sensory driven reflex controller, capable of generating locomotion in a quadruped compliant robot. This controller is totally dependent on sensory information, so the robot’s movements are the result of the robot interactions with the environment. Results show that the proposed controller is capable of generating movements in a flat terrain and is resilient to unexpected perturbations such as a small ramp.

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Paper citation in several formats:
Ferreira, C.; Matos, V.; P. Santos, C. and Ijspeert, A. (2014). Quadrupedal Locomotion Based in a Purely Reflex Controller.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 324-331. DOI: 10.5220/0005062403240331

@conference{icinco14,
author={César Ferreira. and Vitor Matos. and Cristina P. Santos. and Auke Ijspeert.},
title={Quadrupedal Locomotion Based in a Purely Reflex Controller},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={324-331},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005062403240331},
isbn={978-989-758-039-0},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Quadrupedal Locomotion Based in a Purely Reflex Controller
SN - 978-989-758-039-0
AU - Ferreira, C.
AU - Matos, V.
AU - P. Santos, C.
AU - Ijspeert, A.
PY - 2014
SP - 324
EP - 331
DO - 10.5220/0005062403240331

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