The RunBot Architecture for Adaptive, Fast, Dynamic Walking

摘要

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.