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

Ignacio Rano, Augusto Gomez Eguiluz, Filippo Sanfilippo

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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.

Original languageEnglish
Title of host publicationProceedings of the 15th International Conference on Control, Automation, Robotics and Vision
PublisherIEEE
Publication date20. Dec 2018
Pages1394-1399
ISBN (Print)978-1-5386-9583-8
ISBN (Electronic)978-1-5386-9582-1, 978-1-5386-9581-4
DOIs
Publication statusPublished - 20. Dec 2018
Event15th International Conference on Control, Automation, Robotics and Vision - Marina Bay Sands Expo and Convention Centre, Singapore
Duration: 18. Nov 201821. Nov 2018

Conference

Conference15th International Conference on Control, Automation, Robotics and Vision
LocationMarina Bay Sands Expo and Convention Centre
Country/TerritorySingapore
Period18/11/201821/11/2018

Keywords

  • Bio-inspired robots
  • Braitenberg vehicles
  • snake-like robots

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