✦ LIBER ✦

Biomimetic walking robot SCORPION: Control and modeling

✍ Scribed by Bernhard Klaassen; Ralf Linnemann; Dirk Spenneberg; Frank Kirchner

Publisher: Elsevier Science
Year: 2002
Tongue: English
Weight: 363 KB
Volume: 41
Category: Article
ISSN: 0921-8890
DOI: 10.1016/s0921-8890(02)00258-0

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✦ Synopsis

We present the biomimetic control scheme for the walking robot SCORPION. We used a concept of Basic Motion Patterns, which can be combined in a very flexible manner. Also reflexes are introduced to increase the reactivity. In addition our modeling and simulation approach is described, which has been done based on the ADAMS TM simulator. Especially the motion patterns of real scorpions were analyzed and used for walking patterns and smooth acceleration of the robot.

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