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10.5220/0005062403240331guideproceedingsArticle/Chapter ViewAbstractPublication PagesConference Proceedingsacm-pubtype
Article

Quadrupedal Locomotion Based in a Purely Reflex Controller

Published: 01 September 2014 Publication History

Abstract

Quadruped locomotion in irregular and unknown terrains is still a problem to solve. The concept of reflexes is used in this work to contribute for the continuous search of answers about this theme. Biological researches show that spinal reflexes are crucial for a successful locomotion in the most varied terrains, so robotics investigation in this area could be a great advance in the robotâ s locomotion.
In this work, we present a sensory driven reflex controller, capable of generating locomotion in a quadruped compliant robot. This controller is totally dependent on sensory information, so the robotâ s movements are the result of the robot interactions with the environment. Results show that the proposed controller is capable of generating movements in a flat terrain and is resilient to unexpected perturbations such as a small ramp.

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cover image Guide Proceedings
ICINCO 2014: Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1
September 2014
807 pages
ISBN:9789897580390

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SCITEPRESS - Science and Technology Publications, Lda

Setubal, Portugal

Publication History

Published: 01 September 2014

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  1. Quadruped Locomotion
  2. Reflexes
  3. Sensory Information.

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