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Talk:Hexapod (robotics)

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Proposed addition at the end of the "Biologically Inspired" section

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Hisenkei ari-1 (非線形蟻-1, nonlinear ant-1) robot walking in ant-like (top) and cockroach-like (bottom) postures at the Tokyo Institute of Technology. This insect-inspired robot has 3 degrees-of-freedom per leg and is capable of walking in ant-like (top) and cockroach-like (bottom) postures, which are generated as emergent dynamics in a network of coupled nonlinear oscillators[1]

Insect gaits are usually obtained by two approaches: the centralized and the decentralized control architectures. Centralized controllers directly specify transitions of all legs, whereas in decentralized architectures, six nodes (legs) are connected in a parallel network; gaits arise by the interaction between neighbouring legs. One approach for realizing controllers is inspired by the notions of connectionism and emergence: a network is created by coupling nonlinear oscillators, whose connections are controlled in such a manner as to obtain the generation of the intended walking patterns, realizing a Central pattern generator. For example, such oscillators can be implemented using Field-programmable analog array devices and be used to create a two-layer network, wherein one layer generates the gain sequence and the other the leg trajectories.[1]

References