| Behavior-based Control of a Four Legged Walking Robot (2007) | |||||||||||||||
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| INTRODUCTION Walking using a purely reactive controller was shown to work by Brooks (1989) who implemented the behaviors as a distributed network of finite state machines. Beer et al (1993) used behavior-based approach for control of a biologically inspired robot by an artificial neural network imitating the cockroach nervous system. Other examples where a behavior based approach has been used to generate walking patterns include Wettergreen et al (1995) and Luk et al (1996). All these examples of behaviorbased control and gait generation are for six or eight legged robots. Gait generation for quadrupeds by some central leg sequencing mechanism, using an algorithmic rather than behavior-based approach, is well studied [Song & Chen (1991), de Santos & Jimenez (1995), Hirose & Kunieda (1991)]. Very little, however, has been done in studying how reactive behaviors can be used to generate gaits and control walking of quadrupeds. A gait that follows a predefined sequencing of the | |||||||||||||||
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