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

Autor(en): von Twickel, Arndt
Hild, Manfred
Siedel, Torsten
Patel, Vishal
Pasemann, Frank
Stichwörter: Automation & Control Systems; Biologically-inspired robotics; Computer Science; Computer Science, Artificial Intelligence; DESIGN; DRIVEN; EVOLUTION; Evolutionary robotics; LOCOMOTION; Locomotion control; Modular robotics; MOVEMENT; NETWORK; Neurocybernetics; Robotics; Sensori-motor loop; STICK INSECT; WALKNET
Erscheinungsdatum: 2012
Herausgeber: ELSEVIER
Volumen: 60
Ausgabe: 2
Startseite: 227
Seitenende: 241
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. (C) 2011 Elsevier B.V. All rights reserved.
ISSN: 09218890
DOI: 10.1016/j.robot.2011.10.006

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