Biological investigations show that an animal’s movement consists of inherent locomotion patterns and reflexive actions. The inherent locomotion patterns generated by the CPGs enable the animal to move around, while the reflexive actions help them to simply and quickly respond to external triggers. The reflex reactions are essential for survival in dangerous situation. They are an involuntary instinct that reacts when the body of the animal needs to regulate itself. In this chapter, we focus on the design of a reflex mechanism and its integration into the CPG model described in Chap. 4. In the field of robotics, as the lowest level of sensor based response, the concept of reflex is widely used and applied for the control of robots. Kenneth et al. incorporated biological principles into biomechanics, and implemented the reflex control on a hexapod robot (Espenschied et al. 1996). They realized three types of postural reflexes. The first one is a stepping reflex.
Design of Sensory Reflex Mechanism
Bio-Inspired Locomotion Control of Limbless Robots ; Kapitel : 6 ; 125-143
31.01.2023
19 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Sensory reflex design for humanoid walk
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