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A Prototype 2N-Legged (insect-like) Robot. A Non-Linear Dynamical System Approach

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Spatial Temporal Patterns for Action-Oriented Perception in Roving Robots II

Part of the book series: Cognitive Systems Monographs ((COSMOS,volume 21))

Abstract

A nonlinear closed lattice or ring is proposed as a central pattern generator (CPG) for controlling hexapodal robots. We show that the ring composed of six anharmonically interacting units coupled to the limb actuators permits to reproduce typical hexapod gaits. We provide an electronic circuit implementation of the CPG providing the corresponding gaits. Then we propose a method to incorporate the actuator (motor) and leg dynamics in the units of the CPG. With this electro-mechanical device we close the loop CPG—environment—CPG, thus obtaining a decentralized approach for the leg control that does not require higher level CPG intervention during locomotion in a non-smooth hence non flat landscape. The gaits generated by our CPG are not rigid, but adapt to obstacles faced by the robot.

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Authors and Affiliations

  1. Departamento de Física Aplicada, E.T.S.I. Aeronáuticos, Universidad Politecnica de Madrid, Madrid, Spain

    E. del Rio

  2. Instituto Pluridisciplinar, Universidad Complutense de Madrid, Madrid, Spain

    M. G. Velarde

Authors
  1. E. del Rio
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  2. M. G. Velarde
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Corresponding author

Correspondence to E. del Rio .

Editor information

Editors and Affiliations

  1. Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Università di Catania, Catania, Italy

    Paolo Arena

  2. Dipartimento di Ingegneria Elettrica Elettronica e dei Sistemi, Università di Catania, Catania, Italy

    Luca Patanè

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del Rio, E., Velarde, M. (2014). A Prototype 2N-Legged (insect-like) Robot. A Non-Linear Dynamical System Approach. In: Arena, P., Patanè, L. (eds) Spatial Temporal Patterns for Action-Oriented Perception in Roving Robots II. Cognitive Systems Monographs, vol 21. Springer, Cham. https://doi.org/10.1007/978-3-319-02362-5_5

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  • DOI: https://doi.org/10.1007/978-3-319-02362-5_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-02361-8

  • Online ISBN: 978-3-319-02362-5

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