Distributed Sensor-Driven Control for Bio-Inspired Walking and Ball Rolling of a Dung Beetle-Like Robot

Theis Strøm-Hansen, Mathias Thor, Leon Bonde Larsen, Emily Baird, Poramate Manoonpong

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

Abstract

Bio-inspired robotics is an approach that looks at how nature solves a (complex) problem and applies the
solution to a robot. Based on this approach, we have looked at walking animals that can exploit their legs for multiple
functions, like locomotion and object manipulation/transportation. This is to expand the ability of walking robots. According to this, we have developed our robotic model based on a dung beetle, an animal that can walk and roll a dung
ball using its legs. In this paper, we present distributed sensor-driven control for generating dung beetle-like walking
and ball rolling behaviors of the developed model. The control mechanism is based on the Walknet bio-inspired controller. Furthermore, this paper gives a proof of concept that locomotion and object manipulation/transportation can be
achieved without installing additional manipulators and/or grippers on a robot as shown by other works. To this end, the
bio-inspired strategy can avoid the requirement of additional energy to power the manipulator or gripper system; thereby
leading to an energy-efficient multi-functional robotic system.
Original languageEnglish
Title of host publicationProceedings of the 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics
PublisherSWARM
Publication date2017
Pages196-199
Publication statusPublished - 2017
Event2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics - Kyoto University, Kyoto, Japan
Duration: 29. Oct 20171. Nov 2017
http://www.ohk.hiroshima-u.ac.jp/SWARM2017/
http://www.ohk.hiroshima-u.ac.jp/SWARM2017/

Conference

Conference2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics
LocationKyoto University
Country/TerritoryJapan
CityKyoto
Period29/10/201701/11/2017
Internet address

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