Modular Neural Control for Object Transportation of a Bio-inspired Hexapod Robot

Sørensen, Chris Tryk Lund; Manoonpong, Poramate

doi:10.1007/978-3-319-43488-9_7

Cited by 3 publications

(4 citation statements)

References 17 publications

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“…In this paper, the new version of the modular neural controller is based on our previous version (Sørensen and Manoonpong, 2016). Basically, these two versions have the same basis modules (i.e., the CPG modules and the VRN modules).…”

Section: Discussionmentioning

confidence: 99%

“…The modular neural control has been design for both walking and ball rolling. The structural design is based on the modular neural controller for a hexapod robot proposed by Sørensen and Manoonpong (2016). The main components of the control are the input neurons, the hidden neurons, three generic neural networks or modules (neural oscillator network acting as a central pattern generator (CPG), neural CPG postprocessing network (PCPG), and velocity regulating network (VRN), see details below), and the motor neurons.…”

Section: Modular Neural Controlmentioning

confidence: 99%

“…To overcome the problem, we have developed a series of dung beetle-like robots with different bio-inspired control approaches (Sørensen and Manoonpong, 2016;Strøm-Hansen et al, 2017). While our previously developed dung beetle-like robot systems can perform continuous locomotion as well as object manipulation and transportation, they can only stably move on a level floor.…”

Section: Introductionmentioning

confidence: 99%

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Modular Neural Control for Bio-Inspired Walking and Ball Rolling of a Dung Beetle-Like Robot

Leung¹,

Thor²,

Manoonpong³

2018

The 2018 Conference on Artificial Life

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Dung beetles can perform impressive multiple motor behaviors using their legs. The behaviors include walking and rolling a large dung ball on different terrains, e.g., level ground and different slopes. To achieve such complex behaviors for legged robots, we propose here a modular neural controller for dung beetle-like locomotion and object transportation behaviors of a dung beetle-like robot. The modular controller consists of several modules based on three generic neural modules. The main modules include 1) a neural oscillator network module (as a central pattern generator (CPG)), 2) a neural CPG postprocessing module (PCPG), 3) a velocity regulating network module (VRN). The CPG generates basic rhythmic patterns. The patterns are first shaped by the PCPG and their amplitudes as well as phases are later modified by the VRN to obtain proper motor patterns for locomotion and object transportation. Combining all these neural modules, we can achieve different motor patterns for four different actions which are forward walking, backward walking, levelground ball rolling, and sloped-ground ball rolling. All these actions can be activated by four input neurons. The experimental results show that the simulated dung beetle-like robot can robustly perform the actions. The average forward speed is 0.058 cm/s and the robot is able to roll a large ball (about 3 times of its body height and 2 times of its weight) up different slope angles up to 25 degrees.

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Section: Discussionmentioning

confidence: 99%

Section: Modular Neural Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Modular Neural Control for Bio-Inspired Walking and Ball Rolling of a Dung Beetle-Like Robot

Leung¹,

Thor²,

Manoonpong³

2018

The 2018 Conference on Artificial Life

Self Cite

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show abstract

“…This may lead to malfunction or unstable behavior when the feedback disappears. Thus in the future, we will explore the use of central pattern generators (CPGs) [19] and a combination between CPGs and sensor-driven control [20] for generating complex and highly robust behavior.…”

Section: Discussionmentioning

confidence: 99%

A dung beetle-inspired robotic model and its distributed sensor-driven control for walking and ball rolling

Thor

Strøm-Hansen

Larsen

et al. 2018

Artif Life Robotics

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Integrated Modular Neural Control for Versatile Locomotion and Object Transportation of a Dung Beetle-Like Robot

Leung

Billeschou

Manoonpong

2024

IEEE Trans. Cybern.

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Modular Neural Control for Object Transportation of a Bio-inspired Hexapod Robot

Cited by 3 publications

References 17 publications

Modular Neural Control for Bio-Inspired Walking and Ball Rolling of a Dung Beetle-Like Robot

Modular Neural Control for Bio-Inspired Walking and Ball Rolling of a Dung Beetle-Like Robot

A dung beetle-inspired robotic model and its distributed sensor-driven control for walking and ball rolling

Integrated Modular Neural Control for Versatile Locomotion and Object Transportation of a Dung Beetle-Like Robot

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