Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts

By Yasuhiro Fukuoka, Hiroshi Kimura, Avis H. Cohen. Int. J. Robotics Res., 2003

728 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Biomedical Engineering

View Paper: https://www.semanticscholar.org/paper/3d62391529bc968e2b98fcf58a521abc8e4650f0

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Citations in the corpus

Learning CPG-based biped locomotion with a policy gradient method (2005, background): “Following this pioneering work, several attempts have been made to explore neural oscillator based controllers for legged locomotion [3] [4].”
Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts (2007, methodology): “We discussed the meanings of coupled-dynamics-based motion generation and how to design a neural system taking into account the dynamics of a mechanical system in a previous article (Fukuoka et al. 2003a).”
Fast biped walking with a reflexive controller and real-time policy searching (2005, background): “In order to achieve real time walking gait in a real world, even biological inspired robots often have to depend on some kinds of position- or trajectory tracking control on their joints [6, 11, 12].”
Dynamic trotting on slopes for quadrupedal robots (2015, methodology): “For instance, the extension of the legs can be adapted using neural control systems [12], [5], and for robot legs exhibiting kinematic redundancies, the orientation of the leg segments with respect to the vertical direction can also be controlled, as executed by Lauron with its additional joint [9].”
Dynamic locomotion of a biomorphic quadruped 'Tekken' robot using various gaits: walk, trot, free-gait and bound (2009, methodology): “Instead, it is equipped with spring lock mechanism (Fukuoka et al. 2003).”
A Bio-Inspired Hopping Kangaroo Robot with an Active Tail (2014, background): “For example, the quadruped robot Tekken II has spring-mass-damping systems between the leg joints, as a mechanism to stimulate viscoelastic characteristics of muscle tissue([2,3]).”
SpinybotII: climbing hard walls with compliant microspines (2005, background): “N recent years, there has been considerable progress in small, legged robots that can run rapidly and stably over rough terrain [1][2][3][4].”
Learning, planning, and control for quadruped locomotion over challenging terrain (2011, background): “Another important wave of research was created by biologically inspired robot designs (Saranli et al. 2001; Fukuoka et al. 2003; Cham et al. 2004; Smith and Poulakakis 2004), that try to overcome the limited ability of multi-legged robots in rough terrain with biomimetic hardware design principles.”
Learning from demonstration and adaptation of biped locomotion (2004, methodology): “Numerical simulations and experimental implementation on a physical robot demonstrate the effectiveness of the proposed locomotion controller.”
Learning to Control a 6-Degree-of-Freedom Walking Robot (2007, background): “Examples of these are studies on locomotion of dog-like robot [13], [14], [15], hexapod [16], salamander-like robot [17], or human-like biped [18], [11].”