Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot

被引：145

作者：

Espenschied, KS

Quinn, RD ^{[1
]}

Beer, RD

Chiel, HJ

机构：

[1] CASE WESTERN RESERVE UNIV, DEPT AEROSP & MECH ENGN, CLEVELAND, OH 44106 USA

[2] CASE WESTERN RESERVE UNIV, DEPT BIOL, CLEVELAND, OH 44106 USA

[3] CASE WESTERN RESERVE UNIV, DEPT COMP SCI & ENGN, CLEVELAND, OH 44106 USA

[4] CASE WESTERN RESERVE UNIV, DEPT NEUROSCI, CLEVELAND, OH 44106 USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1996年 / 18卷 / 1-2期

基金：

美国国家航空航天局;

关键词：

hexapod; legged robots; rough terrain locomotion; stick-insect; biologically inspired control;

D O I：

10.1016/0921-8890(96)00003-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Distributed control and local leg reflexes enable insects to cope easily with terrain that would defeat many legged robots. An insect-like hexapod robot incorporating biologically based control effectively responded to mechanical perturbations using active and passive compliance and a local stepping reflex. An elevator reflex and a searching reflex addressed unexpected obstacles and loss of support, respectively. The robot exhibited a range of gaits using stick-insect-based distributed control mechanisms and negotiated irregular, slatted and compliant surfaces with this biologically based control strategy.

引用

页码：59 / 64

页数：6

共 29 条

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[Anonymous], 1990, Intelligence as Adaptive Behavior: An Experiment in Computational Neuroethology

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