Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR

Maehle, Erik; Brockmann, Werner; Grosspietsch, Karl-Erwin; Auf, Adam El Sayed; Jakimovski, Bojan; Krannich, Stephan; Litza, Marek; Maas, Raphael; Al-Homsy, Ahmad

doi:10.1007/978-3-0348-0130-0_34

Cited by 9 publications

(5 citation statements)

References 10 publications

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“…ORCA [ 137 , 138 ] integrates various hardware and software approaches to maintain system control, safety, and efficiency, even in unexpected scenarios such as faults or changing environments.…”

Section: Robot Control Architecturesmentioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.

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Section: Robot Control Architecturesmentioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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“…For example, Free Gait [ 49 ] is designed to control whole-body motions for quadrupedals and is applied to ANYmal and StarlETH robots. Another interesting example is OSCAR [ 50 ], a control scheme able to deal with the self-organization, self-reconfiguration, and self-healing of the hexapod robot OSCAR [ 51 ]. Particular mention should be made of Lauron’s architecture [ 22 ], a behavior-based control system.…”

Section: Moclora Architecturementioning

confidence: 99%

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

et al. 2022

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MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the modules of an organism with any morphology, at the same time allowing exchanges between the physical robot and its digital twin. It includes the basic layers to control and coordinate all the elements, while allowing adding new higher-level components to improve the organism’s behavior. It is focused on the control of both the body and the legs of the organism, allowing for position and velocity control of the whole robot. Similarly to insects, which are able to adapt to new situations after the variation on the capacity of any of their legs, MoCLORA allows the control of organisms composed of a variable number of modules, arranged in different ways, giving the overall system the versatility to tackle a wide range of tasks in very diverse environments. The article also presents ROMERIN, a modular climbing and legged robotic organism, and its digital twin, which allows the creation of different module arrangements for testing. MoCLORA has been tested and validated with both the physical robot and its digital twin.

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“…For example, in [17], Jakimovski et al present an Organic Self-Configuration and Adapting Robot (OSCAR), a hexapod robot that is described through the Organic Robot Control Architecture (ORCA). ORCA [18] proposes creating an entire system out of subsystems, where each of the subsys-tems is designed for a determined task [19]. More complex subsystems can be generated by combining and cascading smaller subsystems [20].…”

Section: Related Workmentioning

confidence: 99%

Behavior-Based Control Architecture for Legged-and-Climber Robots

et al. 2021

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In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The architecture gives the robots the ability to perform self-reconfiguration after unforeseen leg failures, because it can control this kind of robot with different numbers of legs. The results show the capability of performing movements in any direction and inclination planes. The components and functionalities of the developed control architecture for these robots are described, and, the architecture’s performance is tested on the ROMHEX robot.

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Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR

Cited by 9 publications

References 10 publications

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

Behavior-Based Control Architecture for Legged-and-Climber Robots

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