Controlling Dynamic Motions of Biped Robots with Reflexes and Motor Patterns

Despite many efforts in the development and control of two-legged robots, nature’s solution of biped walking is still unequaled. Both the mechanical side and neural control surpass what robotics research has come up with. While the properties of the biological locomotion apparatus are fairly well understood, still there seems no technical solution for an equivalent actuation system. Unfortunately the knowledge on nature’s neural control concepts is far from complete.