The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary...
This paper introduces a new approach to develop a fast gait for quadruped robot using genetic programming (GP). Several recent approaches have focused on the genetic algorithm (GA...
This paper presents biologically inspired neural controllers for generating motor patterns in a quadruped robot. Sets of arti cial neural networks are presented which provide 1 p...
We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the essential conditions for stable ...
— Legged robots can, in principle, traverse a large variety of obstacles and terrains. In this paper, we describe a successful application of reinforcement learning to the proble...
— The development of an oscillator controller for a quadruped robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the sw...
— In this paper a novel multipart control is developed for a trotting quadruped robot. The control is designed to drive the quadruped to a steady-state motion with desired forwar...
— Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property o...