Publikation

Concept Evaluation of a New Biologically Inspired Robot LittleApe

Daniel Kuehn, Malte Langosz, Nina Sauthoff, Felix Grimminger, Frank Kirchner

In: Conference Proceedings of IROS09. IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-09) October 11-15 St. Louis MO United States Seiten 589-594 ISBN 978-1-4244-3804-4 IEEE 10/2009.

Abstrakt

In this paper we present a concept and an evaluation of an ape-like robot which is quite similar to its biological model. Aim of our project LittleApe is to build a small and extreme lightweight robot that is capable of walking on two and four legs as well as of changing from a four-legged posture to a two-legged posture, manipulating small objects, and which is also able to climb. LittleApe is modelled with attributes of a chimpanzee regarding limb proportions, spinal column, centre of mass, walking pattern, and range of motion. The concept of LittleApe is tested in simulation while building the real system. Two aspects were chosen to evaluate the concept described in detail within this paper. The first aspect comprises the use of an evolutionary method and the comparison of different morphologies. Based on the results from the first one, the second aspect deals with the manoeuvrability of the LittleApe robot.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence