Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy.

Yaguang Zhu,Qianwei Zhu,Bo Jin,Qiong Liu,Tong Guo,Xiangmo Zhao

doi:10.3390/s17122710

Yaguang Zhu, Qianwei Zhu + Show 4 more

Open Access

https://doi.org/10.3390/s17122710

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Abstract

In order to find a common approach to plan the turning of a bio-inspired hexapod robot, a locomotion strategy for turning and deviation correction of a hexapod walking robot based on the biological behavior and sensory strategy of ants. A series of experiments using ants were carried out where the gait and the movement form of ants was studied. Taking the results of the ant experiments as inspiration by imitating the behavior of ants during turning, an extended turning algorithm based on arbitrary gait was proposed. Furthermore, after the observation of the radius adjustment of ants during turning, a radius correction algorithm based on the arbitrary gait of the hexapod robot was raised. The radius correction surface function was generated by fitting the correction data, which made it possible for the robot to move in an outdoor environment without the positioning system and environment model. The proposed algorithm was verified on the hexapod robot experimental platform. The turning and radius correction experiment of the robot with several gaits were carried out. The results indicated that the robot could follow the ideal radius and maintain stability, and the proposed ant-inspired turning strategy could easily make free turns with an arbitrary gait.

Highlights

Compared with wheeled robots [1] and tracked robots [2], the movement of multi-legged robots is achieved by the alternating motion of each leg where the contact between the robot and ground is a series of discrete points
The results indicated that the main power for turning was provided by the outboard legs, and the inboard legs provided surplus power
Paper, aa turning turning control control strategy strategy and and aa radius radius correction correction algorithm algorithm for for aa hexapod hexapod bio-inspired robot were proposed based on the behavior of ants

Summary

Introduction

Compared with wheeled robots [1] and tracked robots [2], the movement of multi-legged robots is achieved by the alternating motion of each leg where the contact between the robot and ground is a series of discrete points. These unique advantages can allow them to cross small obstacles and give them the ability to move across uneven terrains [3]. It has the ability of fault tolerance [4]. At present, the advantages of multi-legged robots have attracted many scholars to this field

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