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Motor Control Adaptation to Changes in Robot Body Dynamics for a Compliant Quadruped Robot


Book Chapter


One of the major deficiencies of current robots in comparison to living beings is the ability to adapt to new conditions either resulting from environmental changes or their own dynamics. In this work we focus on situations where the robot experiences involuntary changes in its body particularly in its limbs’ inertia. Inspired from its biological counterparts we are interested in enabling the robot to adapt its motor control to the new system dynamics. To reach this goal, we propose two different control strategies and compare their performance when handling these modifications. Our results show substantial improvements in adaptivity to body changes when the robot is aware of its new dynamics and can exploit this knowledge in synthesising new motor control.

Author(s): Pouya, Soha and Eckert, Peter and Spröwitz, Alexander and Mo\"ckel, Rico and Ijspeert, Auke Jan
Book Title: Biomimetic and Biohybrid Systems
Volume: 8064
Pages: 434--437
Year: 2013
Series: {Lecture Notes in Computer Science}
Publisher: Springer

Department(s): Dynamic Locomotion
Bibtex Type: Book Chapter (incollection)

Address: Heidelberg
DOI: 10.1007/978-3-642-39802-5\textunderscore58


  title = {Motor Control Adaptation to Changes in Robot Body Dynamics for a Compliant Quadruped Robot},
  author = {Pouya, Soha and Eckert, Peter and Spr{\"o}witz, Alexander and Mo\"{}ckel, Rico and Ijspeert, Auke Jan},
  booktitle = {Biomimetic and Biohybrid Systems},
  volume = {8064},
  pages = {434--437},
  series = {{Lecture Notes in Computer Science}},
  publisher = {Springer},
  address = {Heidelberg},
  year = {2013}