Biologically inspired reactive climbing behavior of hexapod robots

Dennis Goldschmidt*, Frank Hesse, Florentin Worgotter, Poramate Manoonpong

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Abstrakt

Insects, e.g. cockroaches and stick insects, have found fascinating solutions for the problem of locomotion, especially climbing over a large variety of obstacles. Research on behavioral neurobiology has identified key behavioral patterns of these animals (i.e., body flexion, center of mass elevation, and local leg reflexes) necessary for climbing. Inspired by this finding, we develop a neural control mechanism for hexapod robots which generates basic walking behavior and especially enables them to effectively perform reactive climbing behavior. The mechanism is composed of three main neural circuits: locomotion control, reactive backbone joint control, and local leg reflex control. It was developed and tested using a physical simulation environment, and was then successfully transferred to a physical six-legged walking machine, called AMOS II. Experimental results show that the controller allows the robot to overcome obstacles of various heights (e.g., ∼ 75% of its leg length, which are higher than those that other comparable legged robots have achieved so far). The generated climbing behavior is also comparable to the one observed in cockroaches.

OriginalsprogEngelsk
Titel2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Antal sider6
Publikationsdato1. dec. 2012
Sider4632-4637
Artikelnummer6386135
ISBN (Trykt)9781467317375
DOI
StatusUdgivet - 1. dec. 2012
Begivenhed25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Varighed: 7. okt. 201212. okt. 2012

Konference

Konference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
LandPortugal
ByVilamoura, Algarve
Periode07/10/201212/10/2012
SponsorIEEE Robotics and Automation Society (RAS), IEEE Industrial Electronics Society, Robotics Society of Japan, Society of Instruments and Control Engineers, New Technology Foundation (NTF)
NavnIEEE International Conference on Intelligent Robots and Systems
ISSN2153-0858

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