Abstract
The biomimetism is based on the observation and imitation of nature. It is expected, by studying live walking animals, to find interesting parameters that could be used in various fields of robotics [1], and to find parameters that don’t vary from one specie to another [2]. The steps described here are the different experiments and the conception of a computer model. Different animals have been studied in the past like the hedgehog, the tenrec and the shrew, and a first model has been achieved. A new model, which is based on the tortoise of Hermann, consists in a 15 links, 22 degrees of freedom system, animated with Proportional-Derivative control, which references are actual recordings of live animals.
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© 2006 Springer-Verlag Berlin Heidelberg
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Hennion, B., Pill, J., Guinot, J.C. (2006). A Biologically Inspired Model For Quadruped Locomotion. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_5
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DOI: https://doi.org/10.1007/3-540-26415-9_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
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