Universität zu Köln

Buschmann, Thomas, Ewald, Alexander, von Twickel, Arndt and Bueschges, Ansgar (2015). Controlling legs for locomotion-insights from robotics and neurobiology. Bioinspir. Biomim., 10 (4). BRISTOL: IOP PUBLISHING LTD. ISSN 1748-3190

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Abstract

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. Wetry to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

Item Type:	Journal Article
Creators:	Creators Email ORCID ORCID Put Code Buschmann, Thomas UNSPECIFIED UNSPECIFIED UNSPECIFIED Ewald, Alexander UNSPECIFIED UNSPECIFIED UNSPECIFIED von Twickel, Arndt UNSPECIFIED UNSPECIFIED UNSPECIFIED Bueschges, Ansgar UNSPECIFIED UNSPECIFIED UNSPECIFIED
URN:	urn:nbn:de:hbz:38-397974
DOI:	10.1088/1748-3190/10/4/041001
Journal or Publication Title:	Bioinspir. Biomim.
Volume:	10
Number:	4
Date:	2015
Publisher:	IOP PUBLISHING LTD
Place of Publication:	BRISTOL
ISSN:	1748-3190
Language:	English
Faculty:	Unspecified
Divisions:	Unspecified
Subjects:	no entry
Uncontrolled Keywords:	Keywords Language STICK INSECT WALKING; FEMORAL CHORDOTONAL ORGAN; CENTRAL PATTERN GENERATOR; ANKLE EXTENSOR MUSCLES; HYBRID ZERO DYNAMICS; GROUP IB AFFERENTS; MOTOR-DRIVEN BELT; REFLEX REVERSAL; BIPED WALKING; SWING PHASE Multiple languages Engineering, Multidisciplinary; Materials Science, Biomaterials; Robotics Multiple languages
URI:	http://kups.ub.uni-koeln.de/id/eprint/39797