A BIOLOGICALLY INSPIRED FOUR LEGGED ROBOT THAT EXHIBITS SOME NATURAL WALKING BEHAVIOURS

摘要

This paper presents the design and implementation of a four legged walking robot that can exhibit some natural walking behaviours. The robot is inspired from biological systems and aims to address the complex behaviours of legged locomotion from a biological perspective. The robot displays its natural walking manners via some overall emergent walking behaviours generated from the real-time interactions with its environment. A parallel Subsumption Architecture is applied to the robot for the physical implementation of the design.