Leg-body coordination strategies for obstacle avoidance and narrow space navigation of multi-segmented, legged robots

Abstract

IntroductionMillipedes can avoid obstacle while navigating complex environments with their multi-segmented body. Biological evidence indicates that when the millipede navigates around an obstacle, it first bends the anterior segments of its corresponding anterior segment of its body, and then gradually propagates this body bending mechanism from anterior to posterior segments. Simultaneously, the stride length between pairs of legs inside the bending curve decreases to coordinate the leg motions with the bending mechanism of the body segments. In robotics, coordination between multiple legs and body segments during turning for navigating in complex environments, e.g., narrow spaces, has not been fully realized in multi-segmented, multi-legged robots with more than six legs.MethodTo generate the efficient obstacle avoidance turning behavior in a multi-segmented, multi-legged (millipede-like) robot, this study explored three possible strategies of leg and body coordination during turning: including the local leg and body coordination at the segment level in a manner similar to millipedes, global leg amplitude change in response to different turning directions (like insects), and the phase reversal of legs inside of turning curve during obstacle avoidance (typical engineering approach).ResultsUsing sensory inputs obtained from the antennae located at the robot head and recurrent neural control, different turning strategies were generated, with gradual body bending propagation from the anterior to posterior body segments.DiscussionWe discovered differences in the performance of each turning strategy, which could guide the future control development of multi-segmented, legged robots.

Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot

“…Although energy-efficient, their motion forms are limited, with poor loadbearing capacity and stability. In contrast, the biomimetic millipede robot, with its typical multi-legged structure, has a much larger number of legs than hexapods, featuring redundant support legs, strong load-bearing capacity, good stability, diverse gait combinations, high fault tolerance, and greater adaptability [9][10][11][12]. Currently, research on robots with more than six legs is relatively scarce, mainly focusing on single-joint structure design and driving methods.…”