Aramies: A four-legged climbing and walking robot [1 citations — 1 self]
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by Dirk Spenneberg, Andreas Strack, Jens Hilljegerdes, Heiko Zschenker, Martin Albrecht, Frank Kirchner
Proceedings of 8th International Symposium iSAIRAS
http://ag47.informatik.uni-bremen.de/downloads/papers/isairas-spenneberg-et-all.pdf
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Abstract:
This article describes the four-legged walking integration study ARAMIES and the developed control software approach. Furthermore, we analyze a first walking experiment carried out. We explain how CPG-like rhythmic motion patterns can be produced on the basis of Bezier-splines, resulting in a very simple and flexible way to produce complex walking trajectories which can be modulated in phase, frequency and amplitude. In addition, we describe briefly our new RT-micro-kernel concept for programming behavior-based robots which is used in the ARAMIES project. This microkernel combines properties of real-time operating systems with concept of behavior-based programming.
Citations
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| 4 | Issues in the physical realisation of autonomous robotic agents – Steels, Stuer, et al. - 1996 |
| 2 | A hybrid locomotion control approach – Spenneberg - 2005 |
| 1 | M.o.n.s.t.e.r.: A new behavior based microkernel for mobile robots – Spenneberg, Albrecht, et al. - 2005 |
| 1 | Mollusc to Man, Chapter 10: general organization of the locomoter control system in the cat – From - 1999 |
