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A central pattern generator and a hip-to-knee mapping function are employed to realize basic rhythmic motion for a quadrupedal robot. When an input from a contact sensor on the robot's toe is detected, a patterned motion generated by the flexor reflex emerges depending on the location of the bumping phase, and replaces the ongoing rhythmic motion of that leg, causing it to be raised high enough to clear the obstacle. By restricting this reflex to within one cycle time of the walk and only to the bumping leg, rhythm and stability of motion are ensured. Numerical simulations and experimental implementation on a physical quadrupedal robot demonstrate the effectiveness of the proposed method.<\/jats:p>","DOI":"10.1017\/s0263574707003517","type":"journal-article","created":{"date-parts":[[2007,4,20]],"date-time":"2007-04-20T09:15:38Z","timestamp":1177060538000},"page":"1-7","source":"Crossref","is-referenced-by-count":2,"title":["Autonomously clearing obstacles using the biological flexor reflex in a quadrupedal robot"],"prefix":"10.1017","volume":"26","author":[{"given":"Zhang","family":"Xiuli","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zheng","family":"Haojun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2008,1,1]]},"reference":[{"key":"S0263574707003517_ref1","doi-asserted-by":"crossref","unstructured":"1. Brooks R. A. , \u201cA Robot That Walks: Emergent Behaviors From a Carefully Evolved Network,\u201d Proceedings of IEEE International Conference on Robotics and Automation, Scottsdale, Arizona 1989 2, pp. 692\u20134+2.","DOI":"10.21236\/ADA207958"},{"key":"S0263574707003517_ref3","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008924521542"},{"key":"S0263574707003517_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/BF00319514"},{"key":"S0263574707003517_ref12","doi-asserted-by":"crossref","unstructured":"12. Kimura H. , Fukuoka Y. and Cohen A. H. , \u201cBiologically Inspired Adaptive Dynamic Walking of a Quadruped Robot,\u201d Proceedings of the 8th International Conference on the Simulation of Adaptive Behavior, Los Angeles, California 2004 pp. 201\u2013210.","DOI":"10.7551\/mitpress\/3122.003.0026"},{"key":"S0263574707003517_ref6","doi-asserted-by":"publisher","DOI":"10.1126\/science.3975635"},{"key":"S0263574707003517_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050408"},{"key":"S0263574707003517_ref2","doi-asserted-by":"publisher","DOI":"10.1126\/science.253.5025.1227"},{"key":"S0263574707003517_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/BF00449593"},{"key":"S0263574707003517_ref5","doi-asserted-by":"publisher","DOI":"10.1126\/science.7423199"},{"key":"S0263574707003517_ref13","doi-asserted-by":"publisher","DOI":"10.1163\/156855306777681375"},{"key":"S0263574707003517_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022003004"},{"key":"S0263574707003517_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/S0960-9822(00)00367-5"},{"key":"S0263574707003517_ref8","unstructured":"8. Drew T. , \u201cNeuronal Mechanisms for the Adaptive Control of Locomotion in The Cat,\u201d Proceedings of Adaptive Motion of Animals and Machines, Montreal, Canada, 1\u201312 2000."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003517","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,13]],"date-time":"2024-02-13T14:20:09Z","timestamp":1707834009000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003517\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,1]]},"references-count":13,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2008,1]]}},"alternative-id":["S0263574707003517"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003517","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,1]]}}}