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

Potiwat Ngamkajornwiwat, Pitiwut Teerakittikul*, Poramate Manoonpong

*Corresponding author for this work

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

Abstract

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.

Original languageEnglish
Title of host publicationFrom Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings
EditorsPoramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, Jochen Triesch
PublisherSpringer VS
Publication date2018
Pages212-222
ISBN (Print)978-3-319-97627-3
ISBN (Electronic)978-3-319-97628-0
DOIs
Publication statusPublished - 2018
Event15th International Conference on the Simulation of Adaptive Behavior, SAB 2018 - Frankfurt/Main, Germany
Duration: 14. Aug 201817. Aug 2018

Conference

Conference15th International Conference on the Simulation of Adaptive Behavior, SAB 2018
CountryGermany
CityFrankfurt/Main
Period14/08/201817/08/2018
SeriesLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10994 LNAI
ISSN0302-9743

Keywords

  • Adaptive behaviours
  • Artificial hormone mechanism
  • Autonomous robot
  • Gait adaptation
  • Gait generation

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