类似哺乳动物的四足行走机器BISAM

AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354) Pub Date : 1998-06-29 DOI:10.1109/AMC.1998.743575

K. Berns, W. Ilg, M. Deck, R. Dillmann

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引用次数: 18

摘要

介绍了我们的四足行走机器BISAMc的生物学灵感设计。它提供了研究爬行动物和哺乳动物行走的可能性，只有一个机械实现。灵活的脊柱为行走提供了更好的稳定性。对于机器的控制，提出了分层组织控制硬件和基于神经振荡器的生物启发自适应控制概念。

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The mammalian-like quadrupedal walking machine BISAM

Presents the biologically inspired design of our four-legged walking machine BISAMc. It offers the possibility to investigate reptile- and mammal-like walking with only one mechanical realization. A flexible spine supports walking with better stability. For the control of the machine, a hierarchical organized control hardware and a biologically inspired adaptive control concept based on neuro-oscillators is presented.

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AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354)

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