Bridging the gap between bio-inspired steering and locomotion: A Braitenberg 3a Snake robot

Ignacio Rano, Augusto Gomez Eguiluz, Filippo Sanfilippo

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

Braitenberg vehicles are simple models of animal motion towards, or away from, a stimulus (light, sound, chemicals, etc). They have been widely used in robotics to implement target reaching and avoidance behaviors based on different types of sensors. While the seminal work of Braitenberg used wheeled vehicles to illustrate the principles of animal steering, few attempts have been made at combining these steering level controllers with locomotion mechanism other than actuated wheels. This paper presents the first implementation of this biologically inspired steering controller in a snake-like robot with non-actuated wheels and actuated joints. The sinusoidal gait of the snake is modulated following the principles of the Braitenberg vehicle 3a using two sensors symmetrically located on the head. The effectiveness of this bio-inspired controller is shown through simulations where the snake orients its head and body with the direction of the stimulus gradient, and reaches the stimulus maximum within some range. This paper represents one of the first steps towards connecting bio-inspired sensor-based steering mechanisms and bio-inspired locomotion, and shows that existing theoretical results of Braitenberg vehicles with actuated wheels also apply to a snake-like robot with non-actuated wheels.

OriginalsprogEngelsk
TitelProceedings of the 15th International Conference on Control, Automation, Robotics and Vision
ForlagIEEE
Publikationsdato20. dec. 2018
Sider1394-1399
ISBN (Trykt)978-1-5386-9583-8
ISBN (Elektronisk)978-1-5386-9582-1, 978-1-5386-9581-4
DOI
StatusUdgivet - 20. dec. 2018
Begivenhed15th International Conference on Control, Automation, Robotics and Vision - Marina Bay Sands Expo and Convention Centre, Singapore
Varighed: 18. nov. 201821. nov. 2018

Konference

Konference15th International Conference on Control, Automation, Robotics and Vision
LokationMarina Bay Sands Expo and Convention Centre
LandSingapore
Periode18/11/201821/11/2018

Fingeraftryk

Wheels
Robots
Controllers
Sensors
Animals
Robotics
Acoustic waves

Citer dette

Rano, I., Eguiluz, A. G., & Sanfilippo, F. (2018). Bridging the gap between bio-inspired steering and locomotion: A Braitenberg 3a Snake robot. I Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision (s. 1394-1399). IEEE. https://doi.org/10.1109/ICARCV.2018.8581251
Rano, Ignacio ; Eguiluz, Augusto Gomez ; Sanfilippo, Filippo. / Bridging the gap between bio-inspired steering and locomotion : A Braitenberg 3a Snake robot. Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision. IEEE, 2018. s. 1394-1399
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abstract = "Braitenberg vehicles are simple models of animal motion towards, or away from, a stimulus (light, sound, chemicals, etc). They have been widely used in robotics to implement target reaching and avoidance behaviors based on different types of sensors. While the seminal work of Braitenberg used wheeled vehicles to illustrate the principles of animal steering, few attempts have been made at combining these steering level controllers with locomotion mechanism other than actuated wheels. This paper presents the first implementation of this biologically inspired steering controller in a snake-like robot with non-actuated wheels and actuated joints. The sinusoidal gait of the snake is modulated following the principles of the Braitenberg vehicle 3a using two sensors symmetrically located on the head. The effectiveness of this bio-inspired controller is shown through simulations where the snake orients its head and body with the direction of the stimulus gradient, and reaches the stimulus maximum within some range. This paper represents one of the first steps towards connecting bio-inspired sensor-based steering mechanisms and bio-inspired locomotion, and shows that existing theoretical results of Braitenberg vehicles with actuated wheels also apply to a snake-like robot with non-actuated wheels.",
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Rano, I, Eguiluz, AG & Sanfilippo, F 2018, Bridging the gap between bio-inspired steering and locomotion: A Braitenberg 3a Snake robot. i Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision. IEEE, s. 1394-1399, 15th International Conference on Control, Automation, Robotics and Vision, Singapore, 18/11/2018. https://doi.org/10.1109/ICARCV.2018.8581251

Bridging the gap between bio-inspired steering and locomotion : A Braitenberg 3a Snake robot. / Rano, Ignacio; Eguiluz, Augusto Gomez; Sanfilippo, Filippo.

Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision. IEEE, 2018. s. 1394-1399.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

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Rano I, Eguiluz AG, Sanfilippo F. Bridging the gap between bio-inspired steering and locomotion: A Braitenberg 3a Snake robot. I Proceedings of the 15th International Conference on Control, Automation, Robotics and Vision. IEEE. 2018. s. 1394-1399 https://doi.org/10.1109/ICARCV.2018.8581251