Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot
Gabriel Urbain,Victor Barasuol,Claudio Semini,Joni Dambre,Francis wyffels,Gabriel Urbain,Victor Barasuol,Claudio Semini,Joni Dambre,Francis wyffels
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in robotic locomotion. Despite a global endorsement of this model, physiological and functional experiments in mammals have also indicated the presence of descending s...
