AIMEE: A Four-Legged Robot for RoboCup Rescue

Robust control of a humanoid robot using a bio-inspired approach based on central pattern generators, reflexes, and proprioceptive feedback

“…Thus the walking trajectory produced by a CPG just results from calculating the actual positions of at most 16 Bezier Curves (all leg and arm joints) describing the rhythmic movement which is a simple computation. This CPG approach was already successfully tested on the 8-legged robot SCORPION [1] and the two 4-legged robots AIMEE [4] and ARAMIES [5].…”

“…AIMEE, a four-legged robot [4]. It is composed of a MPC 565 PowerPC microcontroller mounted on a custom-designed mainboard.…”

Design of a Crab-Like Octopod Robot

“…The robot is described with regard to the mechanics which are based on a very modular construction kit, the electronics based on a custom-made MPC 565 microcontroller board, and a software concept using a new behavior-based microkernel. The bio-inspired control approach is based on Central Pattern Generators (CPG), posture-control primitives, and reflex-models [4]. Hamlet is a hexapod walker constructed at the University of Canterbury, New Zealand, to test the effectiveness of combined force and position control to achieve robust, adaptable walking over rough and unknown environments.…”