Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Horvat, Tomislav; Karakasiliotis, Konstantinos; Melo, Kamilo; Fleury, Laura; Thandiackal, Robin; Ijspeert, Auke Jan

doi:10.1109/iros.2015.7353374

Cited by 28 publications

(20 citation statements)

References 11 publications

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“…For the robot experiments, Pleurobot [47] was used. Pleurobot is a salamander-like robot that has been developed based on detailed cineradiographic recordings of Pleurodeles waltl.…”

Section: H Robotmentioning

confidence: 99%

“…The control signal for the spinal joints is computed as the difference of two lateral body oscillator outputs ( 9IJG − H"KLG ). The intra-limb coordination of the 4 degrees of freedom is implemented as suggested in [47] with an inverse kinematics algorithm, that allows to compute the corresponding joint angles in the limbs for a specified foot trajectory. The corresponding parameters are given in TABLE II.…”

Section: H Robotmentioning

confidence: 99%

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Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons

Ryczko

Thandiackal

Ijspeert

2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Abstract-An important topic in designing neuroprosthetic devices for animals or patients with spinal cord injury is to find the right brain regions with which to interface the device. In vertebrates, an interesting target could be the reticulospinal (RS) neurons, which play a central role in locomotor control. These brainstem cells convey the locomotor commands to the spinal locomotor circuits that in turn generate the complex patterns of muscle contractions underlying locomotor movements. The RS neurons receive direct input from the Mesencephalic Locomotor Region (MLR), which controls locomotor initiation, maintenance, and termination, as well as locomotor speed. In addition, RS neurons convey turning commands to the spinal cord. In the context of interfacing neural networks and robotic devices, we explored in the present study whether the activity of salamander RS neurons could be used to control off-line, but in real time, locomotor speed and direction of a salamander robot. Using a salamander semiintact preparation, we first provide evidence that stimulation of the RS cells on the left or right side evokes ipsilateral body bending, a crucial parameter involved during turning. We then identified the RS activity corresponding to these steering commands using calcium (Ca

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“…For the robot experiments, Pleurobot [47] was used. Pleurobot is a salamander-like robot that has been developed based on detailed cineradiographic recordings of Pleurodeles waltl.…”

Section: H Robotmentioning

confidence: 99%

Section: H Robotmentioning

confidence: 99%

Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons

Ryczko

Thandiackal

Ijspeert

2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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“…Amphibious robot Krock2, which uses a sprawling posture for crawling locomotion on land, is able to swim in water, and can maneuver through tight spaces using coordinated limb and spine actuation (Horvat et al, , 2017b) [Color figure can be viewed at wileyonlinelibrary.com]…”

Section: State Of the Artmentioning

confidence: 99%

The current state and future outlook of rescue robotics

Delmerico

Mintchev

Giusti

et al. 2019

Journal of Field Robotics

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263

124

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Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real-world environments. Postdisaster scenarios are a particularly relevant target for applying such technologies, due to the challenging conditions faced by rescue workers and the possibility to increase their efficacy while decreasing the risks they face. However, field-deployable technologies for rescue work have requirements for robustness, speed, versatility, and ease of use that may not be matched by the state of the art in robotics research. This paper aims to survey How to cite this article: Delmerico J, Mintchev S, Giusti A, et al. The current state and future outlook of rescue robotics.

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“…Having extracted the foot-loci from cubic Bézier curve interpolation (and depending on the leg timing), the data was ready to be "replayed" by Serval. Underlying control was using an adapted framework from Pleurobot [23]. On a high-level, we used the controller's state machine along with a CPG-network to update the foot-position constantly, generating our different motions.…”

Section: Control Developmentmentioning

confidence: 99%

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study

Eckert

Schmerbauch

Horvat

et al. 2018

From Animals to Animats 15

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Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust and energy efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots able to achieve a certain level of versatility. Serval, a compliant quadruped robot with actuated spine and high range of motion in all joints was developed to address the question of what mechatronic complexity is needed to achieve rich motion skills. In our experiments, the robot presented a high level of versatility (number of skills) at medium speed, with a minimal control effort and, in this article, no usage of its spine. Implementing a basic kinematics-duplication from dogs, we found strengths to emphasize, weaknesses to correct and made Serval ready for future attempts to achieve more agile locomotion. In particular, we investigated the following skills: trot, bound (crouched), sidestep, turn with a radius, ascend slopes including flat ground transition, perform single and double step-downs, fall, trot over bumpy terrain, lie/sit down, and stand up.

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Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Cited by 28 publications

References 11 publications

Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons

Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons

The current state and future outlook of rescue robotics

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study

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