INTRODUCTION An accepted model for understanding the dynamics of legged locomotion is the simple spring-mass model introduced by Blickhan [1] and further researched by Seyfarth, et. al. [3]. In reality, however, humans and animals use segmented legs for locomtion instead of simple springs. The combination of both in a motor-driven mechanical application should therefore be more biologically ins...

This paper investigates the use of a multi-objective approach for evolving artificial neural networks that act as controllers for the legged locomotion of a 3-dimensional, artificial quadruped creature simulated in a physics-based environment. The Paretofrontier Differential Evolution (PDE) algorithm is used to generate a pareto optimal set of artificial neural networks that optimizes the confl...

Robots are indispensable today to improve process efficiencies and labor savings in the industry and service sector. The importance of robots has also been recognized for work in critical environment, such as, space, ocean bottom, power plants, as well as, in the fields of clinical medicine, hazard prevention, etc. For this, a large number of robots have been developed, and researchers continue...

Machine locomotion using wheels, tracks or legs is common where as generating locomotion in a limbless, wheelless system is more challenging. Wheeled locomotion and legged locomotion have already been studied by many researchers in detail. On the contrary the limbless locomotion has drawn very limited degree of interest. In limbless locomotion (of a serpent) the cyclic changes in the body shape...

This paper investigates the use of a multi-objective approach for evolving artificial neural networks that act as controllers for the legged locomotion of a 3-dimensional, artificial quadruped creature simulated in a physics-based environment. The Pareto-frontier Differential Evolution (PDE) algorithm is used to generate a pareto optimal set of artificial neural networks that optimizes the conf...

A neurocontroller is described which generates the basic locomotion and controls the sensor-driven behavior ofa four-legged and a sixlegged walking machine. The controller utilizes discrete-time neurodynamics, and is ofmodular structure. One module isfor processing sensor signals, one is a neural oscillator network serving as a central pattern generator, and the third one is a so-called velocit...

MODEL-BASED IDENTIFICATION AND CONTROL OF A ONE-LEGGED HOPPING ROBOT Hasan Eftun Orhon M.S. in Electrical and Electronics Engineering Advisor: Ömer Morgül January 2018 Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion...

Cutting-edge robotics is increasingly moving away from simple repetitive tasks on the factory floor and toward complex operations in unstructured natural environments. Such environments present a wide variety of challenges, particularly for conventional modes of robot locomotion: only a fraction of the earth's land surface can be traversed by wheeled vehicles. Common examples of insurmountable ...

Dynamic legged locomotion entails navigating unstructured terrain at high speed. The discontinuous foot-fall patterns and flight phases, which are pivotal for its unrivaled mobility, introduce large impulses and extended free-falls that serve to destabilize motion estimation. In a nod to biological systems, visual information, in the form of optical flow, is used with a hybrid estimator tuned t...