Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot

Espenschied, Kenneth S.; Quinn, Roger D.; Beer, Randall D.; Chiel, Hillel J.

doi:10.1016/0921-8890(96)00003-6

Cited by 184 publications

(110 citation statements)

References 14 publications

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“…Works joining researchers from the robotics and the biology areas are often presented (Laksanacharoen et al, 2000;Schneider et al, 2005;Witte, et al, 2001a, b). Several examples of robots that have been developed based on this approximation are discussed in Silva and Machado (2007), for example, the Lobster Robot, that intends to be a lobster mimic (Ayers, 2004), the CWRU Robot II (Espenschied et al, 1996) that represents a stick-insect and the CWRU Robot III (Nelson and Quinn, 1998;Nelson et al, 1997) that intends to mimic (17:1 scale) the Blaberus Discoidalis cockroach. This approach is also followed in the development of biped and humanoid robots.…”

Section: Biological Approximationsmentioning

confidence: 99%

A literature review on the optimization of legged robots

Silva

Machado

2011

Journal of Vibration and Control

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Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with 'traditional' vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes.

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Section: Biological Approximationsmentioning

confidence: 99%

A literature review on the optimization of legged robots

Silva

Machado

2011

Journal of Vibration and Control

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“…Hosoda et al (2000) propose a reflex-based gait generation system, triggered by the input of a camera system mounted on the robot. A distributed control system for a hexapod using reflexes to stabilize the body is presented in Espenschied et al (1996).…”

Section: Controlmentioning

confidence: 99%

Biologically inspired walking machines: design, control and perception

Dillmann

Albiez

Gaßmann

et al. 2006

Phil. Trans. R. Soc. A.

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This article presents a set of methods used to support the design and control of biologically inspired walking machines. Starting with a description of the general system design idea, an example for the design of the mechanical construction, a computer supported design procedure for the control architecture and the description of a threedimensional world model to be used as knowledge base is given. The focus of this paper is on the engineering and integration process and the interrelation between the different phases of the design process.

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“…In the simplest case, tactile sensors detect the presence or absence of terrain, for example in Hirose's seminal work on control of a quadruped walker (Hirose, 1984), or in (Espenschied et al, 1996), in which a robot traversed a slatted surface. Other sensors can be used to estimate compliance or slope of the terrain for adaptive locomotion, as shown in (Wettergreen et al, 1995;Lewis and Bekey, 2002;Kurazume et al, 2002;Cham et al, 2004), to name a few.…”

Section: Related Workmentioning

confidence: 99%

Terrain Classification Using Weakly-Structured Vehicle/Terrain Interaction

2005

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Abstract. We present a new terrain classification technique both for effective, autonomous locomotion over rough, unknown terrains and for the qualitative analysis of terrains for exploration and mapping. Our approach requires a single camera with little processing of visual information. Specifically, we derived a gait bounce measure from visual servoing errors that results from vehicle-terrain interactions during normal locomotion. Characteristics of the terrain, such as roughness and compliance, manifest themselves in the spatial patterns of this signal and can be extracted using pattern classification techniques. This vision-based approach is particularly beneficial for resource-constrained robots with limited sensor capability. In this paper, we present the gait bounce derivation. We demonstrate the viability of terrain classification for legged vehicles using gait bounce with a rigorous study of more than 700 trials, obtaining an 83% accuracy on a set of laboratory terrains. We describe how terrain classification may be used for gait adaptation, particularly in relation to an efficiency metric. We also demonstrate that our technique may be generally applicable to other locomotion mechanisms such as wheels and treads.

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Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot

Cited by 184 publications

References 14 publications

A literature review on the optimization of legged robots

A literature review on the optimization of legged robots

Biologically inspired walking machines: design, control and perception

Terrain Classification Using Weakly-Structured Vehicle/Terrain Interaction

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