@inproceedings{e327113477974dd0a041b0e48c7e603e,
title = "Control of quadruped walking robot based on biologically inspired approach",
abstract = "In this research, a biological study is performed on the control of a quadruped walking robot. With a biomimetic observation of the gravity load receptor and stimulus-reaction mechanism of quadrupeds' locomotion and with the study of the stances on walking and energy efficiency, a new control method for a quadruped walking robot is derived. In particular, introduction of a new rhythmic pattern generator relieves the heavy computational burden because it does not need large computation on kinematics. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In this paper, evaluation of the proposed method is done via a dynamic simulation. Then, it is validated by implementing in a quadruped walking robot, called AiDIN(Artificia1 Digitigrade for Natural Environment).",
keywords = "Biomimetic, Gravity load controller, Quadruped walking robot",
author = "Kang, {Tae Hun} and Koo, {Ig Mo} and Song, {Young Kuk} and Gialoc Vo and Trong, {Tran Duc} and Lee, {Chang Min} and Choi, {Hyouk Ryeol}",
year = "2007",
doi = "10.1142/9789812770189_0030",
language = "English",
isbn = "9812708154",
series = "Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007",
publisher = "World Scientific Publishing Co. Pte Ltd",
pages = "242--251",
booktitle = "Advances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007",
note = "10th International Conference on Climbing and Walking Robots, CLAWAR 2007 ; Conference date: 16-07-2007 Through 18-07-2007",
}
