Abstract
Industrial robots are well suited for performing manipulation or material handling tasks in highly constrained and predictable environments. By contrast, living organisms are highly adaptive and capable of performing tasks in changing environments, such as stable locomotion over uneven terrain. The challenge to the field of robotics is to use inspiration from biology to develop systems capable of operating in unconstrained or partially constrained environments. We summarize traditional methods for robot control and then present an approach to based on biological principles, with emphasis on perception, control, and cognitive architectures. The principles are illustrated with four examples of robotic systems.
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