Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


A Simplified Approach Towards Legged Locomotion Control


Elias Hagmann


Over the past decade, artificial Central Pattern Generators (CPG) inspired by their counterparts in nature became a more and more widespread means to control the movement of the limbs of legged robots. Currently, a large variety of different CPGs are implemented in an even larger world of amazingly different legged robots, such as artificial cheetahs, salamanders or cockroaches. As a consequence of the variety of existing control approaches and realized systems for legged locomotion, there is a lack of a general benchmark framework able to illuminate the basic differences between the different CPG control strategies. Such a system would not only help to differ between the particular approaches and select the best matching one for a given task, it would also help to identify the defficiencies of specific approaches and help to improve them. In the present work, such a CPG benchmark system is conceptualized by first developing a minimal model of a legged system during bouncing gait locomotion, then reducing this model to a system hopping in only one dimension and finally designing four experiments able to test four important properties of a legged locomotion control strategy: gait variability, short- and longterm adaptivity to environmental changes, noise resistivity and energy efficiency.


Type of Publication:

(12)Diploma/Master Thesis

M. Morari

No Files for download available.
% Autogenerated BibTeX entry
@PhdThesis { Xxx:2010:IFA_4138
Permanent link