The four-legged walking machine BISAM (Biologically Inspired Walking Machine) is being developed at the FZI (Forschungszentrum Informatik) in Karlsruhe. The project aims to use biological inspiration to create a technical system taking advantage of the principles observed in natural locomotion. This leads to two different aims, the modeling of the natural locomotion on the one hand, and the virtual prototyping of the technical system on the other hand. The biological system is modeled to reproduce the cyclic motion and to calculate the applied driving momentum in the joints by solving the inverse dynamics problem. This is used to describe the relation between weight, velocity, foot positioning, stiffness of the legs and other important parameters that influence the stability of locomotion. These insights need to be applied to the technical system. A virtual prototype of the walking machine offers the opportunity to quickly verify the impact of adjustments to the construction and/or the control system. This papers focus is on the modular model of a mammalian locomotive system which has an object oriented structure that is open to be used for modeling of biological locomotion systems as well as technical systems. The system models of the simplified mammalian locomotion system and the BISAM walking machine are described in detail.
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