Neural control of a modular multi-legged walking machine: Simulation and hardware

Twickel, Arndt von; Hild, Manfred; Siedel, Torsten; Patel, Vishal R.; Pasemann, Frank

doi:10.1016/j.robot.2011.10.006

Cited by 35 publications

(52 citation statements)

References 42 publications

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“…5). Instead, in these models (Daun-Gruhn 2011; Daun-Gruhn et al 2012; Daun-Gruhn and Büschges 2011; Ekeberg et al 2004; von Twickel and Pasemann 2007; von Twickel et al 2011, 2012) the walking rhythm of the leg is based on the alternating states of one of the joints. These approaches are successful as they allow single-leg stepping, which scales up to hexapod walking, using a small number of neuronal units.…”

Section: Related Work and Open Questionsmentioning

confidence: 99%

“…(ii) There are three oscillators coupled via different sensory feedback (Beer and Gallagher 1992; Gallagher and Beer 1993; Tóth et al 2012; Knops et al 2013), and there are (iii) approaches where there are no central oscillators. These are the models of von Twickel et al (2011) (being based on the model of Ekeberg et al 2004), von Twickel et al (2012), as well as most versions of Walknet. In Walknet, sensory coupling between leg joints shows some convergence (e.g., via PEP net and height controller) and divergence (e.g., from PEP net), whereas in the other models sensory coupling is represented by local reflexes mostly based on neurophysiological findings.…”

Section: Related Work and Open Questionsmentioning

confidence: 99%

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Walknet, a bio-inspired controller for hexapod walking

et al. 2013

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Walknet comprises an artificial neural network that allows for the simulation of a considerable amount of behavioral data obtained from walking and standing stick insects. It has been tested by kinematic and dynamic simulations as well as on a number of six-legged robots. Over the years, various different expansions of this network have been provided leading to different versions of Walknet. This review summarizes the most important biological findings described by Walknet and how they can be simulated. Walknet shows how a number of properties observed in insects may emerge from a decentralized architecture. Examples are the continuum of so-called “gaits,” coordination of up to 18 leg joints during stance when walking forward or backward over uneven surfaces and negotiation of curves, dealing with leg loss, as well as being able following motion trajectories without explicit precalculation. The different Walknet versions are compared to other approaches describing insect-inspired hexapod walking. Finally, we briefly address the ability of this decentralized reactive controller to form the basis for the simulation of higher-level cognitive faculties exceeding the capabilities of insects.

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Section: Related Work and Open Questionsmentioning

confidence: 99%

Section: Related Work and Open Questionsmentioning

confidence: 99%

Walknet, a bio-inspired controller for hexapod walking

et al. 2013

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“…Octavio 64 YARS "Optimized using evolutionary techniques together with a physical simulation of the machine and its environment"…”

Section: Cassino 11mentioning

confidence: 99%

Model validation of a hexapod walker robot

Kecskés¹,

Burkus²,

Bazsó

et al. 2015

Robotica

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Our complete dynamical simulation-model realistically describes the real low-cost hexapod walker robot Szabad(ka)-II within prescribed tolerances under nominal load conditions. This validated model is novel, described in detail, for it includes in a single study: (a) digital controllers, (b) gearheads and DC motors, (c) 3D kinematics and dynamics of 18 Degree of Freedom (DOF) structure, (d) ground contact for even ground, (e) sensors and battery model. In our model validation: (a) kinematical-, dynamical-and digital controller variables were simultaneously compared, (b) differences of measured and simulated curves were quantified and qualified, (c) unknown model parameters were estimated by comparing real measurements with simulation results and applying adequate optimization procedures. The model validation helps identifying both model's and real robot's imperfections: (a) gearlash of the joints, (b) imperfection of approximate ground contact model, (c) lack of gearhead's internal non-linear friction in the model. Modeling and model validation resulted in more stable robot which performed better than its predecessors in terms of locomotion.

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“…Even the broken legs can be immediately replaced during the exploration, the robot performs more robust and reliable to the extreme working conditions [2].…”

Section: Introductionmentioning

confidence: 99%

Bio-control of a Modular Design Robot—NOROS

Yang

Ding

Peng

2015

Advances in Reconfigurable Mechanisms and Robots II

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The modular walking machine NOROS is a bio-inspired robot designed to serve as a robotic system usable for Moon or Mars soil exploration. It consists of up to eight autonomous leg modules, each equipped with various sensors. The individual leg is controlled by a behavior-based system, which performs well walking behaviors and reflexes immediately to the local terrain. The individual leg control system is coordinated by an additional planning system, which allows the robot to anticipate changes in its gait according to the terrain condition and avoiding extreme situations. The proposed system in this paper is also verified in a co-simulation environment.

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Neural control of a modular multi-legged walking machine: Simulation and hardware

Cited by 35 publications

References 42 publications

Walknet, a bio-inspired controller for hexapod walking

Walknet, a bio-inspired controller for hexapod walking

Model validation of a hexapod walker robot

Bio-control of a Modular Design Robot—NOROS

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