Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation

A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN) that acts as a Central Pattern Generator (CPG) producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured wit...

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Veröffentlicht in:	Computational Intelligence and Neuroscience 2016-01, Vol.2016 (2016), p.1152-1164-097
Hauptverfasser:	Melin, P., Puga Soberanes, Héctor José, Ornelas-Rodriguez, M., Guerra-Hernandez, E. I., Carpio, Juan Martín, Rostro-Gonzalez, H., Espinal, A., Sotelo-Figueroa, Marco Aurelio
Format:	Artikel
Sprache:	eng
Schlagworte:	Action Potentials - physiology Algorithms Artificial Intelligence Boards Computer Simulation Embedded systems Engineering models Humans Legs Locomotion Locomotion - physiology Mathematical models Models, Neurological Motion Network topologies Neural networks Neural Networks (Computer) Neuronal Plasticity Neurons - physiology Parameter estimation Performance evaluation Real time Robot control Robotics - instrumentation Robotics - methods Robots Spiking Walking
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