Biologically Inspired Walking Machines

摘要

In this paper we present biologically inspired walking machines built in our lab. The necessary basic components like the mechanics, special sensors, the distributed computer architectures and the modular control architecture are shown. With the above as basis the behavior control concept is then elaborated in which the adaptation and learning of control tasks play a key role. Some experiments that have been performed with our six-legged machine LAURON Ⅱ and our mammalian like machine BISAM will be presented at the end.