Integrative biomimetics of autonomous hexapedal locomotion

Volker Dürr*, Paolo P. Arena, Holk Cruse, Chris J. Dallmann, Alin Drimus, Thierry Hoinville, Tammo Krause, Stefan Mátéfi-Tempfli, Jan Paskarbeit, Luca Patanè, Mattias Schäffersmann, Malte Schilling, Josef Schmitz, Roland Strauss, Leslie Theunissen, Alessandra Vitanza, Axel Schneider

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

Abstract

Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on disparate and conceptually disjunct research areas in the neurosciences and engineering sciences. We claim that the development of suitable robotic integration platforms is of particular relevance to make such integration of concepts work in practice. Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion. In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots-ranging from compliant actuation, distributed proprioception and control of multiple legs, the formation of internal representations to the use of an internal body model-we introduce the walking robot HECTOR as a research platform for integrative biomimetics of hexapedal locomotion. Owing to its 18 highly sensorized, compliant actuators, light-weight exoskeleton, distributed and expandable hardware architecture, and an appropriate dynamic simulation framework, HECTOR offers many opportunities to integrate research effort across biomimetics research on actuation, sensory-motor feedback, inter-leg coordination, and cognitive abilities such as motion planning and learning of its own body size.

Original languageEnglish
Article number88
JournalFrontiers in Neurorobotics
Volume13
Number of pages32
ISSN1662-5218
DOIs
Publication statusPublished - 1. Jan 2019

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Biomimetics
Robots
Robotics
Motion planning
Computer hardware
Actuators
Feedback
Computer simulation

Keywords

  • Compliance
  • Internal model
  • Leg coordination
  • Load sensing
  • Motor control
  • Motor learning
  • Proprioception
  • Walking

Cite this

Dürr, V., Arena, P. P., Cruse, H., Dallmann, C. J., Drimus, A., Hoinville, T., ... Schneider, A. (2019). Integrative biomimetics of autonomous hexapedal locomotion. Frontiers in Neurorobotics, 13, [88]. https://doi.org/10.3389/fnbot.2019.00088
Dürr, Volker ; Arena, Paolo P. ; Cruse, Holk ; Dallmann, Chris J. ; Drimus, Alin ; Hoinville, Thierry ; Krause, Tammo ; Mátéfi-Tempfli, Stefan ; Paskarbeit, Jan ; Patanè, Luca ; Schäffersmann, Mattias ; Schilling, Malte ; Schmitz, Josef ; Strauss, Roland ; Theunissen, Leslie ; Vitanza, Alessandra ; Schneider, Axel. / Integrative biomimetics of autonomous hexapedal locomotion. In: Frontiers in Neurorobotics. 2019 ; Vol. 13.
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Dürr, V, Arena, PP, Cruse, H, Dallmann, CJ, Drimus, A, Hoinville, T, Krause, T, Mátéfi-Tempfli, S, Paskarbeit, J, Patanè, L, Schäffersmann, M, Schilling, M, Schmitz, J, Strauss, R, Theunissen, L, Vitanza, A & Schneider, A 2019, 'Integrative biomimetics of autonomous hexapedal locomotion', Frontiers in Neurorobotics, vol. 13, 88. https://doi.org/10.3389/fnbot.2019.00088

Integrative biomimetics of autonomous hexapedal locomotion. / Dürr, Volker; Arena, Paolo P.; Cruse, Holk; Dallmann, Chris J.; Drimus, Alin; Hoinville, Thierry; Krause, Tammo; Mátéfi-Tempfli, Stefan; Paskarbeit, Jan; Patanè, Luca; Schäffersmann, Mattias; Schilling, Malte; Schmitz, Josef; Strauss, Roland; Theunissen, Leslie; Vitanza, Alessandra; Schneider, Axel.

In: Frontiers in Neurorobotics, Vol. 13, 88, 01.01.2019.

Research output: Contribution to journalJournal articleResearchpeer-review

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AU - Dürr, Volker

AU - Arena, Paolo P.

AU - Cruse, Holk

AU - Dallmann, Chris J.

AU - Drimus, Alin

AU - Hoinville, Thierry

AU - Krause, Tammo

AU - Mátéfi-Tempfli, Stefan

AU - Paskarbeit, Jan

AU - Patanè, Luca

AU - Schäffersmann, Mattias

AU - Schilling, Malte

AU - Schmitz, Josef

AU - Strauss, Roland

AU - Theunissen, Leslie

AU - Vitanza, Alessandra

AU - Schneider, Axel

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KW - Internal model

KW - Leg coordination

KW - Load sensing

KW - Motor control

KW - Motor learning

KW - Proprioception

KW - Walking

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DO - 10.3389/fnbot.2019.00088

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JO - Frontiers in Neurorobotics

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