The problem of tuning nonlinear dynamical systems parameters, such that the attained results are considered good ones, is a relevant one. This article describes the development of a gait optimization system that allows a fast but stable robot quadruped crawl gait. We combine bio-inspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). CPGs are modelled as autonomous differential...

In this report, we propose an analog circuit that implements a locomotion controller for a quadruped walking robot. Animal locomotion, such as walking, running, swimming and flying, is based on periodic rhythmic movements driven by the biological neural network, called the central pattern generator (CPG). In recent years, many researchers have applied the CPG to locomotion controller for walkin...

Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajecto...

Though development of a practical walking robot is not easy at all, walking robots have many practical advantages resulting from moving functions peculiar to this type of robots including excellent moving characteristics and working characteristics on uneven land. Paying special attention to the encouraging possibility of the walking robot, the authors have been continuing research and developm...

robot to mass (with friction) Force in, velocity out causality Ewoud Vos 6 Mass Impedance Legged robot controller Fig. 1: Abstraction of a legged robot to an omni-directional moving mass that can then, for instance, be controlled by an impedance controller. Fig. 1. This scheme requires a gait controller that ensures that the legs move to support the motion of the robot. The gait generator as pr...

In this paper we present a novel concept of emotionally grounded symbols, which gives information about the importance of objects for the survivability of an autonomous robot, in addition emotionally grounded symbol provides information about emotions that were experienced during learning as well. Using this concept we implement an Emotionally Grounded (EGO) Architecture on a quadruped robot, w...

We are developing a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing normal ground reaction force (leg loading) sensory feedback for both rolling motion (posture) and gait (rhythmic motion) control. In this abstract, we report the results of experiments using a quadruped robot “Kotetsu” in order to verify the results of our ...