Real-world embodied AI through a morphologically adaptive quadruped robot

Adaptive Locomotion Controller for a Quadruped Robot

Slip-adaptive walk of quadruped robot

In this paper, we investigated the effects of the friction condition on walking pattern and energy efficiency, and based on the results, we proposed two new “slip-adaptive” strategies for generating a slip-adaptive walk. The first strategy for a slip-adaptive walk uses a slip reflex via a Central Pattern Generator (CPG) to change the walking pattern. The second strategy for a walk uses a force ...

Detecting Motion in the World with a Moving Quadruped Robot

For a robot in a dynamic environment, the ability to detect motion is crucial. Although legs are arguably the most versatile means of locomotion for a robot, and thus the best suited to an unknown or changing domain, existing methods for motion detection either require that the robot have wheels or that its walking be extremely slow and tightly constrained. This paper presents a method for dete...

Embodied AI: Symbol Grounding through Imagination

This paper presents the principle of symbol grounding in robots. If a robot does not understand words, the robot cannot autonomously talk in the physical world. Understanding language symbols is a necessary condition for autonomous conversations. First, how humans understand language symbols is briefly studied. Humans’ symbol manipulation is based on imagination. Recent brain science shows that...

Biologically inspired adaptive walking of a quadruped robot.

We describe here the efforts to induce a quadruped robot to walk with medium-walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical and the neural systems by comparing biological concepts with those necessary conditions described in physical terms. PD-controller...