Online Gait Adaptation of a Hexapod Robot Using an Improved Artificial Hormone Mechanism

Potiwat Ngamkajornwiwat, Pitiwut Teerakittikul*, Poramate Manoonpong

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Abstrakt

Walking animals show a high level of proficiency in locomotion performance. This inspires the development of legged robots to approach these living creatures in emulating their abilities to cope with uncertainty and to quickly react to changing environments in artificial systems. Central pattern generators (CPGs) and a hormone mechanism are promising methods that many researchers have applied to aid autonomous robots to perform effective adjustable locomotion. Based on these two mechanisms, we present here a bio-inspired walking robot which is controlled by a combination of multiple CPGs and an artificial hormone mechanism with multiple receptor stages to achieve online gait adaptation. The presented control technique aims to provide more dynamics for the artificial hormone mechanism with an inclusion of hormone-receptor binding effect. The testing scenarios on a simulated hexapod robot include walking performance efficiency and adaptability to unexpected damages. It is clearly seen that varying of hormone-receptor binding effect at each time step results in a better locomotion performance in terms of faster adaptation, more balanced locomotion, and self-organized gait generation. The result of our new control technique also supports online gait adaptability to deal with unexpected morphological changes.

OriginalsprogEngelsk
TitelFrom Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings
RedaktørerPoramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, Jochen Triesch
ForlagSpringer VS
Publikationsdato2018
Sider212-222
ISBN (Trykt)978-3-319-97627-3
ISBN (Elektronisk)978-3-319-97628-0
DOI
StatusUdgivet - 2018
Begivenhed15th International Conference on the Simulation of Adaptive Behavior, SAB 2018 - Frankfurt/Main, Tyskland
Varighed: 14. aug. 201817. aug. 2018

Konference

Konference15th International Conference on the Simulation of Adaptive Behavior, SAB 2018
LandTyskland
ByFrankfurt/Main
Periode14/08/201817/08/2018
NavnLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Vol/bind10994 LNAI
ISSN0302-9743

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