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Erschienen in:
2014 | OriginalPaper | Buchkapitel
A Combined CPG-Stretch Reflex Study on a Musculoskeletal Pneumatic Quadruped
verfasst von : Andre Rosendo, Xiangxiao Liu, Shogo Nakatsu, Masahiro Shimizu, Koh Hosoda
Erschienen in: Biomimetic and Biohybrid Systems
Verlag: Springer International Publishing
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Quadruped animals combine the versatility of legged locomotion with extra stability from the additional number of limbs. Cats and dogs can walk in different gait patterns, outperforming current robotic technology while exploiting interactions between brain, spine, muscle and environment, which inner workings are not fully understood. We propose a controller which combines a rhythmic sinusoidal pattern (feed-forward) with a muscular stretch reflex (feedback) on a biomimetic musculoskeletal robot.