Neural control of a modular multi-legged walking machine: Simulation and hardware

详细信息    查看全文

• 作者：Arndt von Twickel^a ; ^{arndt.twickel@uni-koeln.de}  ; [Author Vitae] ; Manfred Hild^b  ; [Author Vitae] ; Torsten Siedel^b  ; [Author Vitae] ; Vishal Patel^a  ; [Author Vitae] ; Frank Pasemann^a  ; [Author Vitae]
• 关键词：Modular robotics ; Biologically-inspired robotics ; Evolutionary robotics ; Neurocybernetics ; Locomotion control ; Sensori-motor loop
• 刊名：Robotics and Autonomous Systems
• 出版年：2012
• 出版时间：February 2012
• 年：2012
• 卷：60
• 期：2
• 页码：227-241
• 全文大小：3182 K

文摘

The modular walking machine Octavio is a bio-inspired robot designed to serve as a testbed for modular neural locomotion control. It consists of up to eight control- and energy-autonomous leg modules, each equipped with 3 active and 2 passive compliant joints and various proprioceptive sensors. Legs may be either used in single leg (treadmill) experiments or can be quickly attached to and detached from bodies with different morphologies. Body morphologies include 4-, 6- and 8-legged machines. Neurocybernetic control is developed and optimized using evolutionary techniques together with a physical simulation of the machine and its environment. This article gives an overview of the machines mechanics, electronics, firmware, configuration and control software. Simple examples demonstrate how the behavior of the simulated and the physical machines are controlled by e.g. neurobiologically motivated modular neural networks.