Publikation

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) 4/08 4 Seiten 22-25 Böttcher IT Verlag Bremen 2008.

Abstrakt

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.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence