Jakimovski, BojanLitza, MarekMsch, FlorianSayed Auf, Adam elHochberger, ChristianLiskowsky, Rüdiger2019-06-122019-06-122006978-3-88579-187-4https://dl.gi.de/handle/20.500.12116/23668Motivated by the vision of Organic Computing, a concept is proposed towards building a more robust robot control architecture. An experimental setup is described that allows to develop, implement and test new approaches and their practical realizations on a walking robot demonstrator. These experiments demonstrate that normal walking of the robot can be distinguished from the walking with a defective leg or against an obstacle by observing appropriate sensor signals from the legs. Based on this, the properties of self-adaptation and self-reconfiguration in case of malfunctions of some parts or in case of obstacle avoidance can be realized.enText/Conference Paper1617-5468