Biologically Inspired Quadruped Robot Biosbot: Modeling, Simulation and Experiment

A biocybernetics-based control scheme for the walking robot BIOSBOT (a quadruped robot system) is presented. The ADAMS (Automatic Dynamic Analysis of Mechanical Systems) computer program is used to model and simulate the performance of BIOSBOT based on CPG (central pattern generator) control theory. Reflexes are also introduced to increase the reactivity between BIOSBOT and the environments. A new method for gait transition is investigated. Dynamic simulations which combine a CPG control algorithm created by MATLAB Simulink Toolkit have been carried out. The success in realization of four typical quadrupedal robotic bio-gaits, gait transform during walking and dynamic walking on irregular terrains shows that the biologically inspired control has ability for autonomous adaptation to unknown irregular terrain. MPEG footage of real experiments on real robot can be seen at: http://thsr.pim.tsinghua.edu.cn.