Multiple Decoupled CPGs with Local Sensory Feedback for Adaptive Locomotion Behaviors of Bio-inspired Walking Robots
Walking animals show versatile locomotion. They can also adapt their movement according to the changes of their morphology and the environmental conditions. These emergent properties are realized by biomechanics, distributed central pattern generators (CPGs), local sensory feedback, and their interactions during body and leg movements through the environment. Based on this concept, we present here an artificial bio-inspired walking system. Its intralimb coordination is formed by multiple decoupled CPGs while its interlimb coordination is attained by the interactions between body dynamics and the environment through local sensory feedback of each leg. Simulation results show that this bio-inspired approach generates self-organizing emergent locomotion allowing the robot to adaptively form regular patterns, to stably walk while pushing an object with its front legs or performing multiple stepping of the front legs, to deal with morphological change, and to synchronize its movement with another robot during a collaborative task.
KeywordsAdaptive behavior Hexapod locomotion Brain-body-environment interaction Autonomous robots Neural networks
Unable to display preview. Download preview PDF.
- 1.Ambe, Y., Nachstedt, T., Manoonpong, P., Wörgötter, F., Aoi, S., Matsuno, F.: Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5087–5092 (2013)Google Scholar
- 2.Aoi, S., Yamashita, T., Tsuchiya, K.: Hysteresis in the gait transition of a quadruped investigated using simple body mechanical and oscillator network models. Physical Review E 83(6), 061909 (2011)Google Scholar
- 3.Campos, R., Matos, V., Santos, C.: Hexapod locomotion: A nonlinear dynamical systems approach. In: IECON 2010-36th Annual Conference on IEEE Industrial Electronics Society, pp. 1546–1551 (2010)Google Scholar
- 6.Fujiki, S., Aoi, S., Kohda, T., Senda, K., Tsuchiya, K.: Emergence of hysteresis in gait transition of a hexapod robot driven by nonlinear oscillators with phase resetting. In: 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 1638–1643 (2012)Google Scholar
- 9.Hesse, F., Martius, G., Manoonpong, P., Biehl, M., Wörgötter, F.: Modular Robot Control Environment Testing Neural Control on Simulated and Real Robots. In: Frontiers in Computational Neuroscience, Conference Abstract: Bernstein Conference (2012), doi:10.3389/conf.fncom.2012.55.00179Google Scholar
- 12.Owaki, D., Kano, T., Nagasawa, K., Tero, A., Ishiguro, A.: Simple robot suggests physical interlimb communication is essential for quadruped walking. Journal of the Royal Society Interface 10(78) (2013)Google Scholar