Skip to main content
SpringerLink
Log in

Implementation of Caterpillar Inspired Rolling Gait and Nonlinear Control Strategy in a Spherical Robot

  • Published:
Journal of Bionic Engineering Aims and scope Submit manuscript

Abstract

This paper presents a novel Central Pattern Generator (CPG) based rolling gait generation in a small-sized spherical robot and its nonlinear control mechanism. A rhythmic rolling pattern mimicking Pleurotya caterpillar is produced for the spherical robot locomotion. A synergetically combined feedforward-feedback control strategy is proposed. The feedforward component is generated from centrally connected network of CPGs in conjunction with nonlinear robot dynamics. Two nonlinear feedback control methods namely integral (first order) Sliding Mode Control (SMC) and High (or second) Order Sliding Mode Control (HOSMC) are proposed to regulate robot stability and gait robustness in the presence of matched parameter uncertainties and bounded external disturbances. Design, implementation and experimental evaluation of both roll gait control strategies for the spherical robot are done on smooth (indoor) and irregular (outdoor) ground surfaces. The performance of robot control is quantified by measuring the roll angle stability, phase plane convergence and wheel velocities. Experimental results show that proposed novel strategy is efficient in producing a stable rolling gait and robust control of a spherical robot on two different types of surfaces. It further shows that proposed high HOSMC strategy is more efficient in robust rolling gait control of a spherical robot compared to an integral first-order SMC on two different ground conditions.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Armour R H, Vincent J F V. Rolling in nature and robotics: A review. Journal of Bionic Engineering, 2006, 3, 195–208.

    Article  Google Scholar 

  2. Brackenbury J. Caterpillar kinematics. Nature, 1997, 390, 453.

    Article  Google Scholar 

  3. van Griethuijsen L I, Trimmer B A. Locomotion in caterpillars. Biological Reviews, 2014, 89, 656–670.

    Article  Google Scholar 

  4. Brackenbury J. Fast locomotion in caterpillars. Journal of Insect Physiology, 1999, 45, 525–533.

    Article  Google Scholar 

  5. Marder E, Bucher D. Central pattern generators and the control of rhythmic movements. Journal of Insect Physiology, 2001, 11, 986–996.

    Google Scholar 

  6. Kukillaya R P, Proctor J, Holmes P. Neuromechanical models for insect locomotion: Stability, maneuverability. Chaos, 2009, 19, 026107.

    Article  MathSciNet  Google Scholar 

  7. Yu J, Tan M, Chen J, Zhang J. A survey on CPG-inspired control models and system implementation. IEEE Transaction on Neural Networks and Learning Systems, 2014, 25, 441–456.

    Article  Google Scholar 

  8. Wu X, Ma S. CPG-based control of serpentine locomotion of a snake-like robot. Mechatronics, 2010, 20, 326–334.

    Article  Google Scholar 

  9. Chen J, Li G, Zhang J, Yu J. Caterpillar-like climbing method incorporating a dual-mode optimal controller. IEEE Transactions on Automation Science and Engineering, 2015, 99, 1–12.

    Google Scholar 

  10. Lin H T, Leisk G, Trimmer B. TGoQBot: A caterpillarinspired soft-bodied rolling robot. Bioinspiration and Biomimetics, 2011, 6, 026007.

    Article  Google Scholar 

  11. Santos C P, Matos V. Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach. Robotics and Autonomous Systems, 2011, 59, 620–634.

    Article  Google Scholar 

  12. Matsuoka K. Sustained oscillations generated by mutually inhibiting neurons with adaptation. Biological Cybernetics, 1985, 52, 367–376.

    Article  MathSciNet  MATH  Google Scholar 

  13. Morimoto J, Endo G, Nakanishi J, Hyon S H, Cheng G, Bentivegna D C. Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking. IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, 2006, 1579–1584.

    Google Scholar 

  14. Halme A, Schonberg T, Wang Y. Motion control of a spherical mobile robot. IEEE International Workshop on Advanced Motion Control, Mie, Japan, 1996, 259–264.

    Chapter  Google Scholar 

  15. Bicchi A, Balluchi A, Prattichizzo D, Gorelli A. Introducing the sphericle: An experimental testbed for research and teaching in nonholonomy, IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA, 1997, 2620–2625.

    Chapter  Google Scholar 

  16. Bhattacharya S, Agrawal S. Spherical rolling robot: A design and motion planning studies. IEEE Transactions on Robotics and Automation, 2000, 16, 835–839.

    Article  Google Scholar 

  17. Joshi V A, Banavar R N, Hippalgaonkar R. Design and analysis of a spherical mobile robot. Mechanism and Machine Theory, 2010, 45, 130–136.

    Article  MATH  Google Scholar 

  18. Sugiyama Y, Shiotsu A, Yamanaka M, Hirai S. Circular/ spherical robots for crawling and jumping. IEEE International Conference on Robotics and Automation, Barcelona, USA, 2005, 3595–3600.

    Google Scholar 

  19. Kayacan E, Bayraktaroglu Z Y, Saeys W. Modeling and control of a spherical rolling robot: A decoupled dynamics approach. Robotica, 2011, 30, 671–680.

    Article  Google Scholar 

  20. Kalker J J. Three dimensional elastic bodies in rolling contact, Kluwer Academic Publishers, Dordrecht, Netherlands, 1990.

    Book  MATH  Google Scholar 

  21. Lamon P, Siegwart R. Wheel torque control in rough terrain- modeling and simulation. IEEE International Conference on Robotics and Automation, Barcelona, USA, 2005, 867–872.

    Google Scholar 

  22. Kuo A D. The relative roles of feedforward and feedback in the control of rhythmic movements. Motor Control, 2002, 6, 129–145.

    Article  Google Scholar 

  23. Utkin V I. Sliding Modes in Control Optimization, 1 st ed, Springer-Verlag Berlin Heidelberg, Germany, 1992.

    Book  MATH  Google Scholar 

  24. Zhao B, Li M, Yu H, Hu H, Sun L. Dynamics and motion control of a two pendulums driven spherical robot. IEEE International Conference on Intelligent Robots and Systems, Taipei, 2010, 147–153.

    Google Scholar 

  25. Cai Y, Zhan Q, Xi X. Path tracking control of a spherical mobile robot. Mechanism and Machine Theory, 2011, 51, 58–73.

    Article  Google Scholar 

  26. Fierro R, Lewis F L. Control of a nonholonomic mobile robot: Backstepping kinematics into dynamics. IEEE International Conference on Decision Control, New Orleans, USA, 1995, 3805–3810.

    Google Scholar 

  27. Kayacan E, Ramon H, Saeys W. Adaptive neuro-fuzzy control of a spherical rolling robot using slidingmode- control-theory-based online learning algorithm. IEEE Transaction of Cybernetics, 2013, 43, 170–179.

    Article  Google Scholar 

  28. Vidyasagar M. Nonlinear Systems Analysis, 2nd ed, Prentice Hall, NJ, USA, 1993.

    MATH  Google Scholar 

  29. Borisov A, Kilin A, Mamaev I. How to control Chaplygins sphere using rotors. II. Regular and Chaotic Dynamics, 2013, 18, 144–158.

    Article  MATH  Google Scholar 

  30. Morinaga A, Svinin M, Yamamoto M. A motion planning strategy for a spherical rolling robot driven by two internal rotors. IEEE Transactions on Robotics, 2014, 30, 993–1002.

    Article  Google Scholar 

  31. Svinin M, Bai Y, Yamamoto M. Dynamic model and motion planning for a pendulum-actuated spherical rolling robot. IEEE International Conference on Robotics and Automation, Seattle, USA, 2015, 656–661.

    Google Scholar 

  32. Levant A. Construction principles of 2-sliding mode design. Automatica, 2007, 43, 576–586.

    Article  MathSciNet  MATH  Google Scholar 

  33. Hamerlain F, Achour K, Floquet T, Perruquetti W. Higher order sliding mode control of wheeled mobile robots in the presence of sliding effects. European Control Conference, Seville, USA, 2005, 1959–1963.

    Google Scholar 

  34. Chowdhury A R, Prasad B, Kumar V, Panda S K. Bio-harmonized dynamics model for a biology inspired carangiform robotic fish underwater vehicle, IFAC World Congress, Cape Town, South Africa, USA, 2014, 19, 7258–7265.

    Google Scholar 

  35. Chowdhury R A, Panda S K. Finding answers to biological control methods using modulated patterns: An application to bio-inspired robotic fish. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015, 3146–3153.

    Google Scholar 

  36. Chowdhury A R, Soh G S, Foong S H, Wood K L. Implementing caterpillar inspired roll control of a spherical robot. IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, 4167–4174.

    Google Scholar 

Download references

Acknowledgment

This work is supported by the Future Systems and Technology Directorate (FSTD), under the Ministry of Defense, Government of Singapore, under Grant IGDST1301013 for Systems Technology for Autonomous Reconnaissance and Surveillance (STARS) project. The authors gratefully acknowledge the support of the Temasek Lab @SUTD and the SUTD-MIT International Design Center. We would like to thank Mr. Akash Vibhute, Mr. Cheong Li Yang, Mr Chen Xiohan for key contributions for the mechanical CAD and dynamics design of spherical robot. We would acknowledge useful suggestions and feedback given by Mr. Che Kun Law of Purdue University, Mr. Hu Yuan of Robotics Institute, Carnegie Mellon University and Mr. Peter Ho (Co-founder) of HOPE Technik Pte. Ltd.

Author information

Authors and Affiliations

  1. Temasek Laboratories, Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore, 487372, Singapore

    Abhra Roy Chowdhury, Gim Song Soh, Shaohui Foong & Kristin L. Wood

  2. SUTD-MIT International Design Centre, Singapore University of Technology and Design, Singapore, 487372, Singapore

    Gim Song Soh, Shaohui Foong & Kristin L. Wood

Authors
  1. Abhra Roy Chowdhury
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Gim Song Soh
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Shaohui Foong
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Kristin L. Wood
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Abhra Roy Chowdhury.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Chowdhury, A.R., Soh, G.S., Foong, S. et al. Implementation of Caterpillar Inspired Rolling Gait and Nonlinear Control Strategy in a Spherical Robot. J Bionic Eng 15, 313–328 (2018). https://doi.org/10.1007/s42235-018-0024-x

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s42235-018-0024-x

Keywords

Search

Navigation