Development of quadruped walking robots: A review

Visual Localisation of quadruped walking robots

A Multi-Agent System for Cooperative Quadruped Walking Robots

We are interested in participating in RoboCup (Robot World Cup Initiative) challenge since it is an excellent forum to promote the research in many areas such as artificial intelligence, robotics, and agent technology. This paper introduces our current research efforts to build a multi-agent system for cooperation and learning of multiple legged robots in the RoboCup domain. A behaviour-based h...

Reinforcement Learning of Fuzzy Logic Controllers for Quadruped Walking Robots

This paper presents a fuzzy logic controller (FLC) for the implementation of some behaviour of Sony legged robots. The adaptive heuristic Critic (AHC) reinforcement learning is employed to refine the FLC. The actor part of AHC is a conventional FLC in which the parameters of input membership functions are learned by an immediate internal reinforcement signal. This internal reinforcement signal ...

Hybrid learning architecture for fuzzy control of quadruped walking robots

This article presents a hybrid learning architecture for fuzzy control of quadruped walking robots in the RoboCup domain. It combines reactive behaviors with deliberative reasoning to achieve complex goals in uncertain and dynamic environments. To achieve real-time and robust control performance, fuzzy logic controllers (FLCs) are used to encode the behaviors and a two-stage learning scheme is ...

Stable Open Loop Walking in Quadruped Robots with Stick Legs

In our previous work we have shown that walking can be implemented on quadrupeds with stii legs and only one actuated degree of freedom in the hip, based on the concept of controlled momentum transfer. In this paper we show via simulations and experiments on two diierent quadruped robots that dynamically stable and robust walking can be achieved via an open loop controller which is active only ...