Mechanical construction and computer architecture of the four-legged walking machine BISAM

被引：64

作者：

Berns, K ^{[1
]}

Ilg, W ^{[1
]}

Deck, M ^{[1
]}

Albiez, J ^{[1
]}

Dillmann, R ^{[1
]}

机构：

[1] Forschungszentrum Informat Karlsruhe, Interact Diag & Serv Syst, D-76131 Karlsruhe, Germany

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 1999年 / 4卷 / 01期

关键词：

biologically inspired control; control architecture; mammal-like walking machine;

D O I：

10.1109/3516.752082

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a biologically inspired design of a four-legged walking machine. It offers the possibility to investigate reptile- and mammal-like walking with one mechanical concept. A flexible spinal column mill support walking with better stability. For the control of the machine, a hierarchical organized computer architecture and a modular software concept are presented.

引用

页码：32 / 38

页数：7

共 26 条

[1]

[Anonymous], 1968, PROC OFF ROAD MOBILI

[2]

BERNS K, 1998, P ICAM 98 OK JAP AUG, P33

[3]

BERNS K, 1998, P IECON 98 AACH GERM, V11, P1170

[4]

BROWN TG, 1914, J PHYSL

[5]

COLLINS JJ, 1994, BIOL CYBERN, V71, P375, DOI 10.1007/BF00198915

[6]

DESANTOS PG, 1994, P 5 INT S ROB MAN IS

[7]

DING Y, 1994, IEEE INT CONF ROBOT, P143, DOI 10.1109/ROBOT.1994.350997

[8]

ECKERT M, 1998, P WORKSH BIOL INSP W, P10

[9]

FISCHER MS, 1998, P EUR MECH COLL EURO, V375, P10

[10] EFFICIENT DYNAMIC SIMULATION OF A QUADRUPED USING A DECOUPLED TREE-STRUCTURE APPROACH [J].

FREEMAN, PS ;

ORIN, DE .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1991, 10 (06) :619-627

← 1 2 3 →