The RunBot Architecture for Adaptive, Fast, Dynamic Walking


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    • Author:  Manoonpong  P. Tao Geng Porr  B. Worgotter  F. Bernstein Center for Computational Neurosci.  Gottingen Univ.;  

    • Abstract:  Abstract In this paper the authors 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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