Biomimetic walking robot SCORPION: Control and modeling

We present a biomimetic control scheme for the walking robot SCORPION. We used the concept of Basic Motion Patterns, which can be combined in a very flexible mariner. Also reflexes are introduced to increase the reactivity. In addition our modeling and simulation approach is described, based on the ADAMS TM simulator. Especially the motion patterns of real scorpions were analyzed and used for walking patterns and smooth acceleration of the robot.