The RunBot architecture for adaptive, fast, dynamic walking

Poramate Manoonpong; Tao Geng; Bernd Porr; Florentin Wörgötter

The RunBot architecture for adaptive, fast, dynamic walking

Poramate Manoonpong^*, Tao Geng, Bernd Porr, Florentin Wörgötter

^*Corresponding author for this work

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Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

In this paper we will present the architecture of the planar biped robot "RunBot". It has been developed on the basis of three hierarchical levels: Biomechanical, Local and Central. The biomechanical level concerns an appropriate biomechanical design of RunBot which utilizes some principles of passive walkers to ensure stability. The local level is a low-level neuronal structure which generates dynamically stable gaits as well as fast motions with some degree of self-stabilization to guarantee basic robustness. In the central level, we simulate a mechanism for synaptic plasticity which allows RunBot to autonomously learn to adapt its locomotion to different terrains, e.g. level floor versus up or down a ramp. As a result, the structural coupling of all these levels generates adaptive, fast dynamic walking of RunBot.

Original language	English
Title of host publication	Proceedings - IEEE International Symposium on Circuits and Systems
Number of pages	4
Publication date	27. Sept 2007
Pages	1181-1184
Publication status	Published - 27. Sept 2007
Event	2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007 - New Orleans, LA, United States Duration: 27. May 2007 → 30. May 2007

Conference

Conference	2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007
Country/Territory	United States
City	New Orleans, LA
Period	27/05/2007 → 30/05/2007

Series	Proceedings of the IEEE International Symposium on Circuits and Systems
ISSN	0271-4310

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title = "The RunBot architecture for adaptive, fast, dynamic walking",

abstract = "In this paper we will present the architecture of the planar biped robot {"}RunBot{"}. It has been developed on the basis of three hierarchical levels: Biomechanical, Local and Central. The biomechanical level concerns an appropriate biomechanical design of RunBot which utilizes some principles of passive walkers to ensure stability. The local level is a low-level neuronal structure which generates dynamically stable gaits as well as fast motions with some degree of self-stabilization to guarantee basic robustness. In the central level, we simulate a mechanism for synaptic plasticity which allows RunBot to autonomously learn to adapt its locomotion to different terrains, e.g. level floor versus up or down a ramp. As a result, the structural coupling of all these levels generates adaptive, fast dynamic walking of RunBot.",

author = "Poramate Manoonpong and Tao Geng and Bernd Porr and Florentin W{\"o}rg{\"o}tter",

year = "2007",

month = sep,

day = "27",

language = "English",

series = "Proceedings of the IEEE International Symposium on Circuits and Systems",

publisher = "IEEE",

pages = "1181--1184",

booktitle = "Proceedings - IEEE International Symposium on Circuits and Systems",

note = "2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007 ; Conference date: 27-05-2007 Through 30-05-2007",

}

Manoonpong, P, Geng, T, Porr, B & Wörgötter, F 2007, The RunBot architecture for adaptive, fast, dynamic walking. in Proceedings - IEEE International Symposium on Circuits and Systems. Proceedings of the IEEE International Symposium on Circuits and Systems, pp. 1181-1184, 2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007, New Orleans, LA, United States, 27/05/2007.

The RunBot architecture for adaptive, fast, dynamic walking. / Manoonpong, Poramate; Geng, Tao; Porr, Bernd et al.
Proceedings - IEEE International Symposium on Circuits and Systems. 2007. p. 1181-1184 (Proceedings of the IEEE International Symposium on Circuits and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - The RunBot architecture for adaptive, fast, dynamic walking

AU - Manoonpong, Poramate

AU - Geng, Tao

AU - Porr, Bernd

AU - Wörgötter, Florentin

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N2 - In this paper we will present the architecture of the planar biped robot "RunBot". It has been developed on the basis of three hierarchical levels: Biomechanical, Local and Central. The biomechanical level concerns an appropriate biomechanical design of RunBot which utilizes some principles of passive walkers to ensure stability. The local level is a low-level neuronal structure which generates dynamically stable gaits as well as fast motions with some degree of self-stabilization to guarantee basic robustness. In the central level, we simulate a mechanism for synaptic plasticity which allows RunBot to autonomously learn to adapt its locomotion to different terrains, e.g. level floor versus up or down a ramp. As a result, the structural coupling of all these levels generates adaptive, fast dynamic walking of RunBot.

AB - In this paper we will present the architecture of the planar biped robot "RunBot". It has been developed on the basis of three hierarchical levels: Biomechanical, Local and Central. The biomechanical level concerns an appropriate biomechanical design of RunBot which utilizes some principles of passive walkers to ensure stability. The local level is a low-level neuronal structure which generates dynamically stable gaits as well as fast motions with some degree of self-stabilization to guarantee basic robustness. In the central level, we simulate a mechanism for synaptic plasticity which allows RunBot to autonomously learn to adapt its locomotion to different terrains, e.g. level floor versus up or down a ramp. As a result, the structural coupling of all these levels generates adaptive, fast dynamic walking of RunBot.

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M3 - Article in proceedings

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T3 - Proceedings of the IEEE International Symposium on Circuits and Systems

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BT - Proceedings - IEEE International Symposium on Circuits and Systems

T2 - 2007 IEEE International Symposium on Circuits and Systems, ISCAS 2007

Y2 - 27 May 2007 through 30 May 2007

ER -

The RunBot architecture for adaptive, fast, dynamic walking

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