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Biologically Inspired Adaptive Walking and Running of Quadruped Robots

• Towards a general controller for quadrupedal locomotion
  • History and Abstract with Movies
    
    
• Adaptive Dynamic Walking of Quadruped Robots on Irregular Terrain
  • History and Abstract with Movies
  • Photos & Movies of Robots: "Patrush" & "Tekken"
    
    
• Running Gait Generation of a Quadruped Robot with Passive Knee Joints
  • History and Abstract (under construction)
    

• Publications (Journal, Book Chapters, Proceedings, Workshop)

[Journal]

• [Emergence (Simulation]] Hiroshi Kimura and Christophe Maufroy, Simulation of autonomous rhythm and gait generation in quadrupedal locomotion with hindlegs, Advanced Robotics, 39-1, pp.48-70, 2025.1. (PDF:Open Access)
• [Kotetsu (Simulation]) Christophe Maufroy, Hiroshi Kimura and Kunikatsu Takase, Integration of posture and rhythmic motion controls in quadrupedal dynamic walking using phase modulations based on leg loading/unloading, AUTONOMOUS ROBOTS, Vol.28, No.3, pp.331-353, 2010.04. (PDF)
• [Tekken-III&IV] Yasuhiro Fukuoka, Hiroki Katabuchi and Hiroshi Kimura, Dynamic Locomotion of Quadrupeds "Tekken3&4" Using Simple Navigation System, Journal of Robotics and Mechatronics, Vol.22, No.1, pp.36-42, 2010.02. (Abstract on line)
• [Rush] Zu Guang Zhang and Hiroshi Kimura, "Rush: a simple and autonomous quadruped running robot", Journal of Systems and Control Engineering, Vol.223, Part I, pp.323-336, 2009 (PDF)
• [Tekken-I] Yasuhiro Fukuoka and Hiroshi Kimura, "Biomorphic Quadruped 'Tekken' Robot Using various Gaits: Walk, Trot, Free-Gait and Bound", Applied Bionics and Biomechanics, Vol.6, No.1, pp.1-9, 2009.03. (PDF)
• [Neuro-Mechanics (Simulation)] Christophe Maufroy, Hiroshi Kimura and Kunikatsu Takase, Towards a general neural controller for quadrupedal locomotion, NEURAL NETWORKS, Vol.21, No.4, pp.667-681, 2008.05.
• [Tekken-II] Hiroshi Kimura, Yasuhiro Fukuoka and Avis H. Cohen, "Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground based on Biological Concepts", Int. Journal of Robotics Research, Vol.26, No.5, pp.475-490, 2007. (PDF)
• [Rush (Simulation)] Zu Guang Zhang, Hiroshi Kimura and Yasuhiro Fukukoka, "Self-Stabilizing Dynamics for a Quadruped Robot and Extension Towards Running on Rough Terrain", Journal of Robotics and Mechatronics, Vol.19, No.1, pp.3-12, 2007.02. (Abstract on line)
• [Tekken-I & II] Hiroshi Kimura, Yasuhiro Fukuoka and Avis H. Cohen, "Biologically Inspired Adaptive Walking of a Quadruped Robot", Theme Issue on Walking machines, F.Pfeiffer and H.Inoue (Eds.), Philosophical Transactions of the Royal Society A, Vol.365, No.1850, pp.153-170, 2007.01. (PDF)
• [Rush (Simulation)] Zu Guang Zhang, Hiroshi Kimura and Kunikatsu Takase, "Adaptive Running of a Quadruped Robot Using Forced Vibration and Synchronization", Journal of Vibration and Control, Vol.12, No.12, 1361-1383, 2006.12. (PDF)
• [Rush (Simulation)] Zu Guang Zhang, Hiroshi Kimura and Yasuhiro Fukukoka, "Autonomously Generating Efficient Running of a Quadruped Robot Using Delayed Feedback Control", ADVANCED ROBOTICS, Vol.20, No.6, pp.607-629, 2006.06. (PDF)
• [Tekken-I] Yasuhiro Fukuoka, Hiroshi Kimura and Avis H. Cohen, "Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain based on Biological Concepts", Int. Journal of Robotics Research, Vol.22, No.3-4, pp.187-202, 2003. (PDF[630K])
• [Patrush-I & II] Hiroshi Kimura, Yasuhiro Fukuoka and Ken Konaga, "Adaptive Dynamic Walking of a Quadruped Robot Using a Neural System Model", ADVANCED ROBOTICS, Vol.15, No.8, pp.859-876, 2001. (PDF[450K])
• [Patrush-I] Hiroshi Kimura, Seiichi Akiyama and Kazuaki Sakurama, "Realization of Dynamic Walking and Running of the Quadruped Using Neural Oscillator", AUTONOMOUS ROBOTS, Vol.7, No.3, pp. 247-258, 1999. (PAPER PDF[173K]), (FIGURE PDF[571K]), (TABLE PDF[31K])

[Book Chapters]

• [Tekken-I] H. Kimura, Y. Fukuoka and T. Mimura, Dynamics Based Integration of Motion Adaptation for a Quadruped Robot, Adaptive Motion of Animals and Machines, H. Kimura et al. (Eds.), Springer-Verlag Tokyo, pp.215--224, 2005
• [Tekken-I & Patrush-I] Hiroshi Kimura, Yasuhiro Fukuoka, Yoshiro Hada and Kunikatsu Takase, "Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Using a Neural System Model", Robotics Research, STAR 6, R.A. Jarvis and A. Zelinsky (Eds.), Springer-Verlag Berlin Heidelberg, pp.147-160, 2003. (Final Paper: PDF[717K])
• [Patrush-I] Hiroshi Kimura, Yasuhiro Fukuoka and Hiroyuki Nakamura, "Biologically Inspired Adaptive Dynamic Walking of the Quadruped on Irregular Terrain", Robotics Research 9, J.M.Hollerbach and D.E.Koditschek Eds, Springer-Verlag London, pp.329-336, 2000. (Abstract.txt), (Final Paper: PDF[271K]), (Hand Out: PDF[630K])

[Proceedings (with review)]

• 2020 [Kotetsu (Experiment)]
  • K. Kodono and H. Kimura, Split-belt Adaptation Model of a Decerebrate Cat Using a Quadruped Robot with Learning, Proc. of 9th Int. Conf. on Biomimetic and Biohybrid Systems (Living Machines 2020), (on-line meeting), pp.217-229, 2020.7. (PDF) [https://doi.org/10.1007/978-3-030-64313-3_21] (ISBN: 978-3-030-64312-6)
• 2012 [Kotetsu (Experiment)]
  • C. Maufroy, H. Kimura and T. Nishikawa, Stable Dynamic Walking of a Quadruped Robot "Kotetsu" Using Phase Modulations Based on Leg Loading/Unloading against a Lateral Perturbation, Proc. of IEEE Robotics and Automation (ICRA2012), St. Paul, pp.1883-1888, 2012.5. (PDF) (PPT)
• 2011 [Kotetsu (Experiment)]
  • C. Maufroy and H. Kimura, Stable Dynamic Walking of a Quadruped Robot "Kotetsu" against Perturbations on Posture and Rhythmic Motion, Proc. of 5th Int. Symp. on Adaptive Motion of Animals and Machines (AMAM2011), Online ISSN:2186-9510, pp.61-62, Awaji, 2011.10 (PDF)
• 2010 [Kotetsu (Experiment)]
  • C. Maufroy, T. Nishikawa and H. Kimura, Stable dynamic walking of a quadruped robot "Kotetsu" using phase modulations based on leg loading/unloading, Proc. of IEEE Robotics and Automation (ICRA2010), Anchorage, pp.5225-5230, 2010.4. (PDF)
• 2009 [Kotetsu (Simulation)]
  • C. Maufroy and H. Kimura, Stable Quadrupedal Dynamic Walking using Phase Modulations based on Leg Unloading, Proc. of Dynamic Walking 2009, Vancouver, 2009.6 (Abstract)
  • C. Maufroy, H. Kimura and K. Takase, Stable Dynamic Walking of a Quadruped via Phase Modulations against Small Disturbances, Proc. of IEEE Robotics and Automation (ICRA2009), Kobe, pp.4201-4206, 2009.5.
    
• 2008 [Neuro-Mechanics]
  • C. Maufroy, H. Kimura and K. Takase, Towards a general neural controller for 3D quadrupedal locomotion, Proc. of SICE Annual Conference (SICE2008), Tokyo, pp.2495-2500, 2008.08. (PDF)
    
• 2007 [Neuro-Mechanics]
  • C. Maufroy, H. Kimura and K. Takase, Biologically Inspired Neural Controller for Quadruped, Proc. of IEEE Robotics and Biomimetics (ROBIO2007), Sanya, China, pp.1212-1217, 2007.12. (PDF)
    
• 2007 [Rush]
  • Z.G. Zhang, T. Masuda, H. Kimura and K. Takase, Towards Realization of Adaptive Running of a Quadruped Robot Using Delayed Feedback Control, Proc. of IEEE Robotics and Automation (ICRA2007), Roma, pp.4325-4330, 2007.4. (PDF[520K])
    
• 2005 [Tekken-III & IV]
  • Hiroshi Kimura, Yasuhiro Fukuoka, Hiroki Katabuti, Mechanical Design of a Quadruped "Tekken3 & 4" and Navigation System Using Laser Range Sensor, Proc. of Int. Symp. on Robotics (ISR2005), TU3H6, Tokyo, 2005.11. (PDF[775K])
    

• 2004 & 2005 [Rush]
  • Z.G. Zhang, Y. Fukuoka and H. Kimura, Adaptive Running of a Quadruped Robot Using Delayed Feedback Control, Proc. of IEEE Robotics and Automation (ICRA2005), Barcelona, pp.3750-3755, 2005.4. (PDF[220K])
    
  • Z. Zhang, Y. Fukuoka, H. Kimura, "Stable Quadrupedal Running based on a Spring-Loaded Two-segment Legged Model", Proc. of IEEE Robotics and Automation (ICRA2004), New Orleans, pp.2601-2606, 2004.4.
    

• 2004 [Tekken-I or II]
  • Hiroshi Kimura and Yasuhiro Fukuoka, "Biologically Inspired Adaptive Dynamic Walking in Outdoor Environment Using a Self-contained Quadruped Robot: 'Tekken2'", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2004), Sendai, pp.986-991, 2004.9. (PDF[600K])
  • Hiroshi Kimura, Yasuhiro Fukuoka, and Avis H. Cohen, "Biologically Inspired Adaptive Dynamic Walking of a Quadruped Robot", Proc. of 8th Int. Conf. on the Simulation of Adaptive Behavior (SAB2004), Los Angles, pp.201-210, 2004.7. (PDF[1M])
    Best technical paper award!
  • Hiroshi Kimura, Yasuhiro Fukuoka, "Adaptive Walking of a Quadruped Robot in Outdoor Environment based on Biological Concepts", Proc. of 9th Int. Symp. of Experimental Robotics (ISER2004), Singapore, ID-132, 2004.6. (PDF[600K])
    

• 2003 [Tekken-I]
  • Yasuhiro Fukuoka, Hiroshi Kimura, Yoshiro Hada and Kunikatsu Takase, "Adaptive Dynamic Walking of a Quadruped Robot 'Tekken' on Irregular Terrain Using a Neural System Model", Proc. of IEEE Robotics and Automation (ICRA2003), pp.2037--2042, 2003.9. (PDF[842K])
  • Z.G. Zhang, Y. Fukuoka and H. Kimura, "Adaptive Running of a Quadruped Robot on Irregular Terrain based on Biological Concepts", Proc. of IEEE Robotics and Automation (ICRA2003), Taipei, pp.2043-2048, 2003.9.
    
  • Yasuhiro Fukuoka, Takayuki Mimura, Norihito yasuda and Hiroshi Kimura," Integration of Multi Sensors for Adaptive Walking of a Quadruped Robot", Proc. of IEEE conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI2003), Tokyo, pp.21--26, 2003.7. (PDF[814K])
  • H. Kimura, Y. Fukuoka and T. Mimura, Dynamics Based Integration of Motion Adaptation for a Quadruped Robot, Proc. of Int. Symp. on Adaptive Motion of Animals and Machines (AMAM2003), ThP-I-2, Kyoto, 2003.3. (PDF[650K])

• 2002 [Tekken-I]
  • Hiroshi Kimura, Yasuhiro Fukuoka, Yoshiro Hada and Kunikatsu Takase, "Three-dimensional Adaptive Dynamic Walking of a Quadruped - rolling motion feedback to CPGs controlling pitching motion -", Proc. of IEEE Robotics and Automation (ICRA2002), Washington D.C., pp.2228-2233, 2002.5. (PDF[814K])

• 2001 [Patrush-I,II and/or Tekken-I]
  • Hiroshi Kimura, Yasuhiro Fukuoka, Ken Konaga, Yoshiro Hada and Kunikatsu Takase, "Towards 3D Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain by Using Neural System Model", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2001), Hawaii, pp.2312-2317, 2001.10. (PDF[250K])
  • Hiroshi Kimura, Yasuhiro Fukuoka, Yoshiro Hada and Kunikatsu Takase, "3D Adaptive Dynamic Walking of a Quadruped Robot by Using Neural System Model", Proc. of 4th Int. Conf. on Climbing and Walking Robots (CLAWAR2001), Karlsruhe, pp.97-104, 2001.9. (PDF[360K])

• 2000 [Patrush-I]
  • Hiroshi Kimura and Yasuhiro Fukuoka, "Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain by Using Neural System Model", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2000), Takamatsu, T-MI-8-2, 2000.11. (PDF[1.1M])
  • Hiroshi Kimura and Yasuhiro Fukuoka, "Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain by Using Neural System Model", Proc. of IFAC Conf. on Mechatronics Systems, Darmstadt, pp.641-646, 2000.9. (PDF[384K]), PS[gzipped 647K])
  • Hiroshi Kimura and Yasuhiro Fukuoka, "Biologically Inspired Dynamic Walking of a Quadruped Robot on Irregular Terrain - Adaptation at Spinal Cord and Brain Stem -", Proc. of Int. Conf. on Adaptive Motion of Animals and Machines (AMAM2000), TuA-II-1, Montreal, 2000.8.
  • Hiroshi Kimura and Yasuhiro Fukuoka, "Adaptive Dynamic Walking of the Quadruped on Irregular Terrain - autonomous adaptation using neural system model -", Proc. of IEEE Robotics and Automation (ICRA2000), San Francisco, pp.436-443, 2000.4. (PDF[777K]), PS[gzipped 656K])
    

• 1999 [Patrush-I]
  • Yasuhiro Fukuoka, Hiroyuki Nakamura and Hiroshi Kimura, "Biologically-Inspired Adaptive Dynamic Walking of the Quadruped on Irregular Terrain", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS1999), Kyongju, pp.1657-1662, 1999.10. (PDF[323K]),
  • Yasuhiro Fukuoka, Hiroyuki Nakamura and Hiroshi Kimura, "Biologically-Inspired Adaptive Dynamic Walking of the Quadruped on Irregular Terrain", Proc. of IEEE Int. Conf. on Control Applications (CCA99), Hawaii, pp.490-495, 1999.8. (PDF[306K])

• 1998 [Patrush-I]
  • Hiroshi Kimura, Kazuaki Sakurama and Seiichi Akiyama, "Dynamic Walking and Running of the Quadruped Using Neural Oscillator", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS1998), Victoria, pp.50-57, 1998.10. (PDF[515K]), (PS[gzipped 602K]), (LaTeX DVI[gzipped 18K]: figures are not included)

[Workshop (Invited Talk)]

• "Walking and Running of a Quadruped Robot on Irregular Terrain", Neuromorphic Engineering Worksop, Telluride, 2005.7. Presentation Slides (PDF[1,9M])
• "Biologically Inspired Legged Locomotion of a Quadruped Robot", Neuromorphic Engineering Worksop, Telluride, 2003.7. Presentation Slides (PDF[300K])
• "Adaptive Motion Integration of a Quadruped Robot based on Dynamics and Biological Concept", Walking Machine Workshop, Bielefeld, 2003.7. Presentation Slides (PDF[300K])
• "Adaptive Dynamic Walking of a Quadruped - Sensor Feedback to CPG -", Neuromorphic Engineering Worksop, Telluride, 2001.7. Presentation Slides (PDF[590K]) (PPT[8M])
• "Biologically-Inspired Adaptive Dynamic Walking of the Quadruped on Irregular Terrain", IARP99 (International Advanced Robotics Program '99), Workshop on Biologically Motivated Service Robot, Jena (Germay), 1999.6. (Paper [8 pages]: PDF[350K], PS[gzipped 502K]), (Handout [3 pages)]: Color PDF[261K], Grey PDF[264K])
• Hiroshi Kimura, Kazuaki Sakurama and Seiichi Akiyama, "Dynamic Walking and Running of the Quadruped Using Neural Oscillator", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS1998), Victoria, pp.50-57, 1998.10. (PDF[515K]), (PS[gzipped 602K]), (LaTeX DVI[gzipped 18K]: figures are not included)
• "Realization of Dynamic Walking and Running of the Quadruped Using Neural Oscillator", 5th Int. Conf. on Simulation of Adaptive Behavior (SAB98), Workshop on Biological Inspired Walking, Zurich, pp.7-15, 1998.8. (PDF[560K]), (PS[gzipped 875K]), (LaTeX DVI[gzipped 18K]: figures are not included)