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Robotic iguanodon ref.
TI: Control of a robot dinosaur
AU: Papantoniou_V, Avlakiotis_P, Alexander_RM
NA: EUROPEAN ASSOC RES LEGGED ROBOT,RUE LIMAUGE 13,B-1050
UNIV LEEDS,SCH BIOL,LEEDS LS2 9JT,W YORKSHIRE,ENGLAND
JN: PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY OF LONDON
SERIES B-BIOLOGICAL SCIENCES, 1999, Vol.354, No.1385, pp.863-
AB: The Palaiomation Consortium, supported by the European
Commission, is building a robot Iguanodon atherfieldensis for
museum display that is much more sophisticated than existing
animatronic exhibits. The current half-size (2.5 m) prototype
is fully autonomous, carrying its own computer and batteries.
It walks around the room, choosing its own path and avoiding
obstacles. A bigger version with a larger repertoire of
behaviours is planned.
Many design problems have had to be overcome. A real dinosaur
would have had hundreds of muscles, and we have had to devise
means of achieving life-like movement with a much smaller
number of motors; we have limited ourselves to 20, to keep the
control problems manageable. Realistic stance requires a
narrower trackway and a higher centre of mass than in previous
(often spider-like) legged robots, making it more difficult to
maintain stability. Other important differences from previous
walking robots are that the forelegs have to be shorter than
the hind, and the machinery has had to be designed to fit
inside a realistically shaped body shell. Battery life is about
one hour, but to achieve this we have had to design the robot
to have very low power consumption. Currently, this limits it
to unrealistically slow movement. The control system includes a
high-level instructions processor, a gait generator, a motion-
coordination generator, and a kinematic model.
WA: robot, dinosaur, walking, quadrupedal locomotion