Biologically inspired neural controllers for motor control in a quadruped robot.

This paper presents biologically inspired neural controllers for generating motor patterns in a quadruped robot. Sets of artificial neural networks are presented which provide 1) pattern generation and gait control, allowing continuous passage from walking to trotting to galloping, 2) control of sitting and lying down behaviors, and 3) control of scratching. The neural controllers consist of sets of oscillators composed of leaky-integrator neurons, which control pairs of flexor-extensor muscles attached to each joint. The networks receive sensory feedback proportional to the contraction of simulated muscles and to joint flexion. Similarly to what is observed in cats, locomotion can be initiated by either applying tonic (i.e. non-oscillating) input to the locomotion network or by sensory feedback from extending the legs. The networks are implemented in a quadruped robot. It is shown that computation can be carried out in real time and that the networks can generate the above mentioned motor behaviors.