Abstract
Bio-inspired robots have chosen to propose novel developments aiming to inhabit and interact complex and dynamic environments. Bio-inspired four-legged robots, typically inspired on animal locomotion, provide advantages on mobility, obstacle avoidance, energy efficiency and others. Balancing is a major challenge when legged robots require to move over uncertain and sharp terrains. It becomes of particular importance to solve other locomotion tasks such as walking, running or jumping. In this paper, we present a preliminary study on the modeling and control balance design of a bio-inspired four-legged robot for standing on its aligned legs in a straight line. The proposed robot is loosely inspired on the bio-mechanics of the chameleon. Thus, a mathematical modeling, simulation, intelligent control strategy, prototype implementation and preliminary results of control balance in our robot are presented and discussed.
This research has been funded by Universidad Panamericana through the grant “Fomento a la Investigación UP 2018”, under project code UP-CI-2018-ING-MX-02.
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Ponce, H., Acevedo, M., Morales-Olvera, E., Martínez-Villaseñor, L., Díaz-Ramos, G., Mayorga-Acosta, C. (2019). Modeling and Control Balance Design for a New Bio-inspired Four-Legged Robot. In: Martínez-Villaseñor, L., Batyrshin, I., Marín-Hernández, A. (eds) Advances in Soft Computing. MICAI 2019. Lecture Notes in Computer Science(), vol 11835. Springer, Cham. https://doi.org/10.1007/978-3-030-33749-0_58
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DOI: https://doi.org/10.1007/978-3-030-33749-0_58
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