Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation
Joint Authors
Sotelo-Figueroa, Marco Aurelio
Carpio, Juan Martín
Espinal, A.
Guerra-Hernandez, E. I.
Ornelas-Rodriguez, M.
Melin, P.
Puga Soberanes, Héctor José
Rostro-Gonzalez, H.
Source
Computational Intelligence and Neuroscience
Issue
Vol. 2016, Issue 2016 (31 Dec. 2015), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-06-29
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
A bioinspired locomotion system for a quadruped robot is presented.
Locomotion is achieved by a spiking neural network (SNN) that acts as a Central Pattern Generator (CPG) producing different locomotion patterns represented by their raster plots.
To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies), which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE).
The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one.
In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed.
For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage.
In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage.
Numerical results show the effectiveness of the proposed system in both cases.
American Psychological Association (APA)
Espinal, A.& Rostro-Gonzalez, H.& Carpio, Juan Martín& Guerra-Hernandez, E. I.& Ornelas-Rodriguez, M.& Puga Soberanes, Héctor José…[et al.]. 2016. Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation. Computational Intelligence and Neuroscience،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1099704
Modern Language Association (MLA)
Espinal, A.…[et al.]. Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation. Computational Intelligence and Neuroscience Vol. 2016, no. 2016 (2015), pp.1-13.
https://search.emarefa.net/detail/BIM-1099704
American Medical Association (AMA)
Espinal, A.& Rostro-Gonzalez, H.& Carpio, Juan Martín& Guerra-Hernandez, E. I.& Ornelas-Rodriguez, M.& Puga Soberanes, Héctor José…[et al.]. Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation. Computational Intelligence and Neuroscience. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1099704
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1099704