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Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot

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Robotics in Natural Settings (CLAWAR 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 530))

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Abstract

Curve walking is an important skill for multi-legged robot locomotion as it increases a robots’ maneuverability. We investigate whether a decentralized system can explain even complex walking behaviors like curve walking. Based on an analysis of the curve walking capabilities of the decentralized control architecture Walknet, we propose a couple of simple but effective modifications with a main focus on the coordination between leg controllers: controlling the step length, shifting the AEP (transition point from swing to stance), and decreasing the step length for the legs on the inside of the curve. In simulation, the modified architecture demonstrated a significant improvement in the stability of the curve walking performance for tight curves and even allows a smooth transition to extremely tight curves and turning on the spot. Furthermore, the system is tested on a real robot and showed good qualitative results and robust curve walking behavior.

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Notes

  1. 1.

    Videos can be found in the publicly accessible git: https://gitlab.ub.uni-bielefeld.de/jsimmering/walknet-curve-walking-supporting-videos.git.

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Acknowledgement

This research was supported by the research training group “Dataninja” (Trustworthy AI for Seamless Problem Solving: Next Generation Intelligence Joins Robust Data Analysis) funded by the German federal state of North Rhine-Westphalia.

Author information

Authors and Affiliations

  1. Machine Learning Group, Bielefeld University, Bielefeld, Germany

    Janneke Simmering, Luca Hermes & Malte Schilling

  2. Institute of System Dynamics and Mechatronics, Bielefeld University of Applied Sciences, Bielefeld, Germany

    Axel Schneider

Authors
  1. Janneke Simmering
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  2. Luca Hermes
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  3. Axel Schneider
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  4. Malte Schilling
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Corresponding author

Correspondence to Malte Schilling .

Editor information

Editors and Affiliations

  1. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    José M. Cascalho

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Armando Mendes

  5. Mechanical, Materials and Manufacturing Engineering (M3), Faculty of Engineering, University of Nottingham, Nottingham, UK

    Khaled Goher

  6. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Matthias Funk

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Simmering, J., Hermes, L., Schneider, A., Schilling, M. (2023). Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_26

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