Mechanical construction and computer architecture of the four-legged walking machine BISAM

Authors
Berns, K Ilg, W Deck, M Albiez, J Dillmann, R
Citation
K. Berns et al., Mechanical construction and computer architecture of the four-legged walking machine BISAM, IEEE-A T M, 4(1), 1999, pp. 32-38
Citations number
26
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN journal
10834435 → ACNP
Volume
4
Issue
1
Year of publication
1999
Pages
32 - 38
Database
ISI
SICI code
1083-4435(199903)4:1<32:MCACAO>2.0.ZU;2-O
Abstract
This paper presents a biologically inspired design of a four-legged walking machine. It offers the possibility to investigate reptile- and mammal-like walking with one mechanical concept. A flexible spinal column mill support walking with better stability. For the control of the machine, a hierarchi cal organized computer architecture and a modular software concept are pres ented.