Biologically-inspired Adaptive Movement Control for a Quadrupedal Robot

• Main Authors: Haojun Zheng, Xiuli Zhang
• Format: Article
• Language: English
• Published: International Institute of Informatics and Cybernetics 2013-08-01
• Series: Journal of Systemics, Cybernetics and Informatics
• Subjects: Quadrupedal Robot; Rhythmic Motion; Central Pattern Generator (cpg); Biological Reflex
• Online Access: http://www.iiisci.org/Journal/CV$/sci/pdfs/9S645DG.pdf

Biologically-inspired robot motion control has attracted a lot of interests because of its potential to make a robot perform better and the value of such study to understand animals' behaviors. This paper presented a quadrupedal robot, Biosbot, with variety of motion abilities and adaptability to its environment. We employed biological neural mechanisms, such as central pattern generator, flexor reflex and postural reflex as Biosbot's control system, meanwhile designed its acts after its animal counterpart, a cat. Biosbot can walk in different gaits, transfer from one gait to another, turn, clear obstacles and walk up and down hill autonomously, to adapt to its environment. The successful walking experiments with Biosbot prove the approach and control model has the ability to improve legged robot's performances.