Abstract
M.Ing.
A great deal of work has been done in the field of hexapodous autonomous agents.
However, in this dissertation the locomotion of a more complex organism - the
octopod - will be studied. Biological neural behaviour will present a basis for
the leg controllers, while classic backpropagation networks will be used to implement
pattern generators. Full simulation of the biological scorpion leg will be
implemented, thus a simulated leg consisting of six joint angles with 6 degrees of
freedom. Simple locomotion on a flat substrate will be considered.
In this dissertation the scorpion will be used as basis of simulation mainly due
to the interesting leg architecture and intricate locomotory patterns during locomotion,
hunting and burrowing. The locomotory models developed here may be
modified to facilitate other terrestial octopodous agents.