scholarly journals In Situ Self-Reconfiguration of Hexapod Robot OSCAR Using Biologically Inspired Approaches

10.5772/8838 ◽  
2010 ◽  
Author(s):  
Bojan Jakimovski ◽  
Erik Maehle
Keyword(s):  
Hexapod Robot ◽  
Biologically Inspired

scholarly journals Energy-based control for a biologically inspired hexapod robot with rolling locomotion

2015 ◽  
Vol 1 (2) ◽  
pp. 125-133 ◽  
Author(s):  
Takuma Nemoto ◽  
Rajesh Elara Mohan ◽  
Masami Iwase
Keyword(s):  
Hexapod Robot ◽  
Biologically Inspired ◽  
Rolling Locomotion

scholarly journals Stochastic System Identification of the Compliance of Conducting Polymers

2008 ◽  
Vol 1134 ◽  
Author(s):  
Priam Vasudevan Pillai ◽  
Ian W. Hunter
Keyword(s):  
Conducting Polymers ◽  
Excitation Frequency ◽  
Low Frequency ◽  
Dynamic Compliance ◽  
Biologically Inspired ◽  
Stochastic Force ◽  
Counter Ion ◽  
Mechanical Compliance ◽  
Electrochemical Cycling

AbstractConducting polymers such as polypyrrole, polythiophene and polyaniline are currently studied as novel biologically inspired actuators. The actuation mechanism of these materials depends upon the motion of ions in and out of the polymer film during electrochemical cycling. The diffusion of ions into the bulk of the film causes the dynamic mechanical compliance (or modulus) of the material to change during the actuation process. The mechanism of this change in compliance is not fully understood as it can depend on many different factors such as oxidation state, solvation of the film and the level of counter ion swelling. In-situ measurement of the dynamic compliance of polypyrrole as a function of charge is difficult since the compliance depends upon the excitation frequency as well as the electrochemical stimulus. Pytel et al [1] studied the effect of the changing elastic modulus in-situ at a fixed frequency. In this study we describe a technique to measure the compliance response of polypyrrole as a function of frequency and electrochemistry. A voltage input and a simultaneous stress input was applied to polypyrrole actuated in neat 1-butyl-3-methylimidazolium hexaflourophosphate. The stress input was a stochastic force with a bandwidth of 30 Hz and it allows us to compute the mechanical compliance transfer function of polypyrrole as function of the electrochemistry. Our studies show that the low frequency compliance changes by 50% as charge was injected into the polymer. The compliance changes reversibly as ions diffuse in and out of the film which indicates that the compliance depends upon the level of counter ion swelling.

scholarly journals A biologically inspired approach to feasible gait learning for a hexapod robot

2010 ◽  
Vol 20 (1) ◽  
pp. 69-84 ◽  
Author(s):  
Dominik Belter ◽  
Piotr Skrzypczyński
Keyword(s):  
Fitness Function ◽  
Search Space ◽  
Walking Robots ◽  
Hexapod Robot ◽  
Walking Robot ◽  
Insect Behaviour ◽  
Biologically Inspired ◽  
Gait Patterns ◽  
Gait Learning ◽  
The Given

A biologically inspired approach to feasible gait learning for a hexapod robotThe objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot's mechanics and drives on a flat terrain. Biological inspirations are commonly used in the design of walking robots and their control algorithms. However, legged robots differ significantly from their biological counterparts. Hence we believe that gait patterns should be learned using the robot or its simulation model rather than copied from insect behaviour. However, as we have foundtahula rasalearning ineffective in this case due to the large and complicated search space, we adopt a different strategy: in a series of simulations we show how a progressive reduction of the permissible search space for the leg movements leads to the evolution of effective gait patterns. This strategy enables the evolutionary algorithm to discover proper leg co-ordination rules for a hexapod robot, using only simple dependencies between the states of the legs and a simple fitness function. The dependencies used are inspired by typical insect behaviour, although we show that all the introduced rules emerge also naturally in the evolved gait patterns. Finally, the gaits evolved in simulations are shown to be effective in experiments on a real walking robot.

The Four-Box Method: Problem Formulation and Analogy Evaluation in Biologically Inspired Design

2014 ◽  
Vol 136 (11) ◽  
Author(s):  
Michael Helms ◽  
Ashok K. Goel
Keyword(s):  
Design Problem ◽  
Problem Formulation ◽  
Biologically Inspired ◽  
Design Problems ◽  
In Situ Observations ◽  
Box Method ◽  
Biologically Inspired Design ◽  
Search Design

Searching for biological analogies appropriate for design problems is a core process of biologically inspired design (BID). Through in situ observations of student BIDs, we discovered that student designers struggle with two issues that bookend the problem of search: design problem formulation, which generates the set of conditions to be used for search; and evaluation of the appropriateness of the retrieved analogies, which depends both on problem formulation and the retrieved analogy. We describe a method for problem formulation and analogy evaluation in BID that we call the Four-Box method. We show that the Four-Box method can be rapidly and accurately used by designers for both problem formulation and analogy evaluation, and that designers find the method valuable for the intended tasks.

scholarly journals Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
A. Espinal ◽  
H. Rostro-Gonzalez ◽  
M. Carpio ◽  
E. I. Guerra-Hernandez ◽  
M. Ornelas-Rodriguez ◽  
...  
Keyword(s):  
Neural Network ◽  
Hardware Implementation ◽  
Pattern Generator ◽  
Quadruped Robot ◽  
Spiking Neural Network ◽  
Resource Usage ◽  
Hexapod Robot ◽  
Biologically Inspired ◽  
Robot Locomotion ◽  
Locomotion System

A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN) that acts as a Central Pattern Generator (CPG) producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies), which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE). The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one. In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed. For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage. In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage. Numerical results show the effectiveness of the proposed system in both cases.

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