A Test Bench to Study Bioinspired Control for Robot Walking

作者：Arikan Kutluk B^*; Irfanoglu Bulent

来源：Control Engineering and Applied Informatics, 2011, 13(2): 76-80.

• bioinspired control structure
• central pattern generator
• robot walking
• evolutionary gait generation

Test bench to study robot walking within the predicted structures of biological control systems is discussed. Physical system is briefly presented with components. Kinematic model and evolutionary way of gait generation for the leg structure in test bench is discussed. Different forms of gaits can be found by genetic optimization using patterns formed by central pattern generators.

• 出版日期2011-6