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Speed Control on a Hexapodal Robot Driven by a CNN-CPG Structure

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Robots and Lattice Automata

Part of the book series: Emergence, Complexity and Computation ((ECC,volume 13))

Abstract

Locomotion control in legged robots is an interesting research field that can take inspiration from biology to design innovative bio-inspired control systems. Central Pattern Generators (CPGs) are well known neural structures devoted to generate activation signals to allow a coordinated movement in living beings. Looking in particular in the insect world, and taking as a source of inspiration the Drosophila melanogaster, a hierarchical architecture mainly based on the paradigm of a Cellular non-linear Network (CNN) has been developed and applied to control locomotion in a fruit fly-inspired simulated hexapod robot. The modeled neural structure is able to show different locomotion gaits depending on the phase locking among the neurons responsible for the motor activities at the level of the leg joints and theoretical considerations about the generated pattern stability are discussed. Moreover the phase synchronization between the leg, altering the locomotion, can be used to modify the speed of the robot that can be controlled to follow a reference speed signal. To find the suitable transitions among patterns of coordinated movements, a reward-based learning process has been considered. Simulation results obtained in a dynamical environment using a Drosophila-inspired hexapod robot are here reported analyzing the performance of the system.

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Acknowledgments

This work was supported by EU Project EMICAB, grant no. 270182.

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Authors and Affiliations

  1. Department of Electrical, Electronic and Computer Science Engineering, University of Catania, I-95125, Catania, Italy

    E. Arena, P. Arena & L. Patané

  2. National Institute of Biostructures and Biosystems (INBB), Viale delle Medaglie d’Oro 305, 00136, Rome, Italy

    P. Arena

Authors
  1. E. Arena
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  2. P. Arena
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  3. L. Patané
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Correspondence to P. Arena .

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Editors and Affiliations

  1. Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece

    Georgios Ch. Sirakoulis

  2. Unconventional Computing Centre, University of the West of England, Bristol, United Kingdom

    Andrew Adamatzky

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Arena, E., Arena, P., Patané, L. (2015). Speed Control on a Hexapodal Robot Driven by a CNN-CPG Structure. In: Sirakoulis, G., Adamatzky, A. (eds) Robots and Lattice Automata. Emergence, Complexity and Computation, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-319-10924-4_5

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  • DOI: https://doi.org/10.1007/978-3-319-10924-4_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-10923-7

  • Online ISBN: 978-3-319-10924-4

  • eBook Packages: EngineeringEngineering (R0)

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