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Publication

Biologically Inspired Locomotion in Humanoid Robots

Sebastian Bartsch; Frank Kirchner
In: Andreas Günter; Klaus-Dieter Althoff; Ralph Bergmann; Franziska Klügl; Sven Behnke; Bernd Ludwig; Ute Schmid; Josef Schneeberger; Ubbo Visser (Hrsg.). KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V. (KI), Vol. 4/08, No. 4, Pages 22-25, Böttcher IT Verlag, Bremen, 2008.

Abstract

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.