CUED Publications database

Goal-directed multimodal locomotion through coupling between mechanical and attractor selection dynamics.

Nurzaman, SG and Yu, X and Kim, Y and Iida, F (2015) Goal-directed multimodal locomotion through coupling between mechanical and attractor selection dynamics. Bioinspir Biomim, 10. 025004-.

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Abstract

One of the most significant challenges in bio-inspired robotics is how to realize and take advantage of multimodal locomotion, which may help robots perform a variety of tasks adaptively in different environments. In order to address the challenge properly, it is important to notice that locomotion dynamics are the result of interactions between a particular internal control structure, the mechanical dynamics and the environment. From this perspective, this paper presents an approach to enable a robot to take advantage of its multiple locomotion modes by coupling the mechanical dynamics of the robot with an internal control structure known as an attractor selection model. The robot used is a curved-beam hopping robot; this robot, despite its simple actuation method, possesses rich and complex mechanical dynamics that are dependent on its interactions with the environment. Through dynamical coupling, we will show how this robot performs goal-directed locomotion by gracefully shifting between different locomotion modes regulated by sensory input, the robot's mechanical dynamics and an internally generated perturbation. The efficacy of the approach is validated and discussed based on the simulation and on real-world experiments.

Item Type: Article
Uncontrolled Keywords: Adaptation, Physiological Animals Biomimetics Computer Simulation Computer-Aided Design Equipment Design Equipment Failure Analysis Gait Goals Humans Locomotion Models, Biological Motion Robotics
Subjects: UNSPECIFIED
Divisions: Div F > Machine Intelligence
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 18:59
Last Modified: 16 Nov 2017 02:15
DOI: