Biologically Inspired Locomotion in Humanoid Robots
Sebastian Bartsch, Frank Kirchner
Editors: Andreas Günter, Klaus-Dieter Althoff, Ralph Bergmann, Franziska Klügl, Sven Behnke, Bernd Ludwig, Ute Schmid, Josef Schneeberger, Ubbo Visser
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Böttcher IT Verlag, volume 4/08, number 4, pages 22-25, 2008.
In this article we present a biologically inspired behavior-based locomotion approach for humanoid robots. On the low level, locomotion is realised by a combination of rythmic pattern generators to produce walking motions and postural reflexes which keep the robot stable and balanced. A higher level behavior could achieve goal-directed movements by exerting influence on the low-level behaviors. The approach was tested on a small humanoid robot which is based on the Kondo KHR-1 construction set.
humanoid robot, locomotion control, reflexes