AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired Capabilities

Abstract

There are currently many quadruped robots suited to a wide range of applications, but traversing some terrains, such as vertical ladders, remains an open challenge. There is still a need to develop adaptive robots that can walk and climb efficiently. This paper presents an adaptive quadruped robot that, by mimicking feline structure, supports several novel capabilities. We design a novel paw structure and several point-cloud-based sensory structures incorporating a quad-composite time-of-flight sensor and a dual-laser range finder. The proposed robot is equipped with physical and cognitive capabilities which include: 1) a dynamic-density topological map building with attention model, 2) affordance perception using the topological map, and 3) a neural-based locomotion model. The novel capabilities show strong integration between locomotion and internal–external sensory information, enabling short-term adaptations in response to environmental changes. The robot performed well in several situations: walking on natural terrain, walking with a leg malfunction, avoiding a sudden obstacle, climbing a vertical ladder. Further, we consider current problems and future development.

Editorial: Biological and Robotic Inter-Limb Coordination

“…This leads to stable quadrupedal split-belt treadmill walking. Saputra et al (2021) present central CPG-based control with multiple sensory feedback provided by exteroceptors (i.e., quad-composite time-of-flight and dual-laser range finder sensors), for detecting the surroundings and interoceptors (i.e., force and touch sensors and an inertial measurement unit (IMU)). Using this control approach, they are able to generate versatile locomotion and short-term adaptation for a cat-like quadruped robot.…”

Research on fusion control of sensor information and biological reflection based on CPG

“…However, the current common biological reflex process is fixed, and it is difficult for robots to adapt to complex and changeable environments. This paper focuses on the research of flexor reflex, and integrates the sensor information into the bio-reflection algorithm [12][13][14] so that the robot can flexibly change the reflection process according to the sensor information during the reflection process, so that it can obtain better stability.…”

Cat-paw-inspired Tree Climbing Robot Gripper

“…Others spiral around it with a snake-like morphology [3], while some use wheels [4]. Quadruped robots often have wheel-leg structures [5] [6], which are very suitable for moving on land, but not effective for climbing.…”