Abstract
There are currently many quadruped robots suited to a wide range of applications, but traversing some terrains, such as vertical ladders, remains an open challenge. There is still a need to develop adaptive robots that can walk and climb efficiently. This paper presents an adaptive quadruped robot that, by mimicking feline structure, supports several novel capabilities. We design a novel paw structure and several point-cloud-based sensory structures incorporating a quad-composite time-of-flight sensor and a dual-laser range finder. The proposed robot is equipped with physical and cognitive capabilities which include: 1) a dynamic-density topological map building with attention model, 2) affordance perception using the topological map, and 3) a neural-based locomotion model. The novel capabilities show strong integration between locomotion and internal–external sensory information, enabling short-term adaptations in response to environmental changes. The robot performed well in several situations: walking on natural terrain, walking with a leg malfunction, avoiding a sudden obstacle, climbing a vertical ladder. Further, we consider current problems and future development.
Highlights
Robots have become necessary to ease human tasks in many contexts such as industrial, military, entertainment, and disaster settings
We present a novel algorithm to realize an attention mechanism for robot movement, based on the dynamic density of a growing neural gas
We present an efficient and solid central pattern generation (CPG) model that dynamically integrates with sensory feedback for generating various gaits, and allows for leg malfunction compensation without greatly increasing the number of parameters involved
Summary
Robots have become necessary to ease human tasks in many contexts such as industrial, military, entertainment, and disaster settings. The optimization process of CPG model and muscle activation function can be seen in FIGURE 12 | (A) The locomotion model can generate dynamic gait pattern by giving different speed stimulation. It shows there are five different known gait patterns from slow speed to high speed. The robot responded by appropriately transitioning its without falling down The video of the robot performance climbing the vertical ladder can be seen in the link of Video 5
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