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Contribution Details
| Type | Conference or Workshop Paper |
| Scope | Discipline-based scholarship |
| Published in Proceedings | No |
| Title | The Lagging Legs - Exploiting Body Dynamics to Steer a Quadrupedal Agent |
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| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Event Title | Int. Conf. on Morphological Computation |
| Abstract Text | The goal of this work was to steer a quadrupedal agent simply by changing the phase delay between its legs. Thus, we were able to show that a quadrupedal agent could possibly reach every point on a plane simply by exploiting its body dynamics. By exploiting body dynamics the controller has to fulfill only the function of a disturbance variable rather than exactly controlling the parameters of an agent?s movement. |
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