NDLI: A hexapod walks over irregular terrain using a controller adapted from an insect's nervous system

Content Provider	IEEE Xplore Digital Library
Author	Lewinger, W.A. Quinn, R.D.
Copyright Year	2010
Description	Author affiliation: Mechanical and Aerospace Engineering Department at Case Western Reserve University, Cleveland, OH 44106 USA (Quinn, R.D.) \|\| Electrical Engineering and Computer Science Department at Case Western Reserve University, Cleveland, OH 44106 USA (Lewinger, W.A.)
Abstract	Insects have long been a source of inspiration for the design and implementation of legged robots. Their extraordinary mobility, agility, and adaptability are features sought after when developing competent, useful mobile walkers. Externally witnessed behaviors have been successfully implemented in walking robots for decades with great success. More recent years of biological study have solved some of the mysteries surrounding the actual neurobiological methods for mobilizing these legged wonders. This paper describes the first implementation of these neurobiological mechanisms in a physical hexapod robot that is capable of generating adaptive stepping actions with the same underlying control method as an insect.
Starting Page	3386
Ending Page	3391
File Size	1333604
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650200
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Joints Robot sensing systems Legged locomotion Robot kinematics Foot
Content Type	Text
Resource Type	Article

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