Integrative Biomimetics of Autonomous Hexapedal Locomotion

Dürr, Volker; Arena, Paolo; Cruse, Holk; Dallmann, Chris J.; Drimus, Alin; Hoinville, Thierry; Krause, Thomas R.; Mátéfi‐Tempfli, Stefan; Paskarbeit, Jan; Patané, Luca; Schäffersmann, Mattias; Schilling, Malte; Schmitz, Josef; Strauß, Roland; Theunissen, Leslie M.; Vitanza, Alessandra; Schneider, Axel

doi:10.3389/fnbot.2019.00088

Cited by 43 publications

(53 citation statements)

References 165 publications

(257 reference statements)

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“…This work will also provide insight into motor control underlying other legged locomotion. Many modeling studies of six-legged walking have investigated the importance of sensory feedback (Manoonpong et al, 2013 ; Schilling et al, 2013 ; Dürr et al, 2019 ; Schilling and Cruse, 2020 ). In particular, Schilling et al ( 2013 ) proposed a decentralized mechanism similar to that used in this study.…”

Section: Discussionmentioning

confidence: 99%

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

et al. 2021

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Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body–limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body–limb coordination and provides a robust, sensory-driven control principle for quadruped robots.

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Section: Discussionmentioning

confidence: 99%

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

et al. 2021

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“…In particular, we compare the model predictions of frequency-dependencies of maximum force, rise- and decay times using our own and published experimental data. Understanding arthropod muscle and being able to model its actions is important, because insects, crustaceans and spiders are widely and increasingly being used as models for biomimetic and robotic applications (e.g., flight: [6]; walking: [7, 8]; jumping: [9]). The active and passive properties of arthropod muscle provide remarkable solutions to the conflicting demands of flexibility and stability of movement, driven by relatively simple nervous control systems.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of linear and non-linear activation dynamics models for insect muscle

et al. 2019

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In computational modelling of sensory-motor control, the dynamics of muscle contraction is an important determinant of movement timing and joint stiffness. This is particularly so in animals with many slow muscles, as is the case in insects—many of which are important models for sensory-motor control. A muscle model is generally used to transform motoneuronal input into muscle force. Although standard models exist for vertebrate muscle innervated by many motoneurons, there is no agreement on a parametric model for single motoneuron stimulation of invertebrate muscle. Although several different models have been proposed, they have never been evaluated using a common experimental data set. We evaluate five models for isometric force production of a well-studied model system: the locust hind leg tibial extensor muscle. The response of this muscle to motoneuron spikes is best modelled as a non-linear low-pass system. Linear first-order models can approximate isometric force time courses well at high spike rates, but they cannot account for appropriate force time courses at low spike rates. A linear third-order model performs better, but only non-linear models can account for frequency-dependent change of decay time and force potentiation at intermediate stimulus frequencies. Some of the differences among published models are due to differences among experimental data sets. We developed a comprehensive toolbox for modelling muscle activation dynamics, and optimised model parameters using one data set. The “Hatze-Zakotnik model” that emphasizes an accurate single-twitch time course and uses frequency-dependent modulation of the twitch for force potentiation performs best for the slow motoneuron. Frequency-dependent modulation of a single twitch works less well for the fast motoneuron. The non-linear “Wilson” model that optimises parameters to all data set parts simultaneously performs better here. Our open-access toolbox provides powerful tools for researchers to fit appropriate models to a range of insect muscles.

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“…An important drawback of the six-legged robots is that they need numerous actuators and sensors. For example, the hexapod robot HECTOR, introduced in (25) , uses 18 modern actuators. RHex (26) is a six-legged robot that uses only six motors located at the hip joints of the robot.…”

Section: Literature Reviewmentioning

confidence: 99%

Dynamic simulation and design of a simple hexapod robot

Alshammari¹

2020

IJST

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Background/Objectives: For motions in off-road navigation, including sandy or wet natural environments and space explorations legged machines, mimicking anatomy of legged animals are efficient. However, the traditional full-actuated legged robots are heavy with complex actuation and control systems, as for each degree of freedom separate actuator is used. The purpose of this work is to develop a kinematic model using a single-actuator for hexapod legged robot taking advantage of bio-inspiration and mechanism design techniques. Methods/Statistical analysis: A vector analysis method was used for measuring the system kinematics equations. The simulation of the walking process was performed using MATLAB. A real prototype of the system has been fabricated based on the design, which is not bulky due to use of single motor, and does not require complex control and sensor systems. Findings: Simulations showed that the kinematic model along with the hypothesis on the ground interaction describes the locomotion, which can be used where robots with low-speed repositioning are required. Theoretical analysis, virtual prototype simulations, as well as initial experiments with the physical prototype, showed an efficient functionality of the system. Novelty/Applications: The design and kinematic model can be used for developing low-energy environmental robots for remote areas with occasional relocation requirements. Keywords: Biomimetic environmental robot; kinematic analysis; mechanism design; tripod gait; walking mechanism

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Integrative Biomimetics of Autonomous Hexapedal Locomotion

Cited by 43 publications

References 165 publications

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

Evaluation of linear and non-linear activation dynamics models for insect muscle

Dynamic simulation and design of a simple hexapod robot

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