Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot
J. Simmering, L. Hermes, A. Schneider, M. Schilling, in: J.M. Cascalho, M.O. Tokhi, M.F. Silva, A. Mendes, K. Goher, M. Funk (Eds.), Robotics in Natural Settings. CLAWAR 2022, Springer International Publishing, Cham, 2022, pp. 264–275.
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Konferenzbeitrag
| Veröffentlicht
| Englisch
Autor*in
Simmering, Janneke;
Hermes, Luca;
Schneider, Axel
;
Schilling, Malte
;
Schilling, MalteHerausgeber*in
Cascalho, José M.;
Tokhi, Mohammad Osman;
Silva, Manuel F.;
Mendes, Armando;
Goher, Khaled;
Funk, Matthias
Abstract
Curve walking is an important skill for multi-legged robot locomotion as it increases a robots’ maneuverability. We investigate whether a decentralized system can explain even complex walking behaviors like curve walking. Based on an analysis of the curve walking capabilities of the decentralized control architecture Walknet, we propose a couple of simple but effective modifications with a main focus on the coordination between leg controllers: controlling the step length, shifting the AEP (transition point from swing to stance), and decreasing the step length for the legs on the inside of the curve. In simulation, the modified architecture demonstrated a significant improvement in the stability of the curve walking performance for tight curves and even allows a smooth transition to extremely tight curves and turning on the spot. Furthermore, the system is tested on a real robot and showed good qualitative results and robust curve walking behavior.
Erscheinungsjahr
Titel des Konferenzbandes
Robotics in Natural Settings. CLAWAR 2022
Seite
264-275
Konferenz
25th International Conference on Climbing and Walking Robots (CLAWAR 2022)
Konferenzort
Ponta Delgada. Azores, Portugal
Konferenzdatum
2022-09-12 – 2022-09-14
ISBN
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eISSN
FH-PUB-ID
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Simmering, Janneke ; Hermes, Luca ; Schneider, Axel ; Schilling, Malte: Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot. In: Cascalho, J. M. ; Tokhi, M. O. ; Silva, M. F. ; Mendes, A. ; Goher, K. ; Funk, M. (Hrsg.): Robotics in Natural Settings. CLAWAR 2022, Lecture Notes in Networks and Systems. Cham : Springer International Publishing, 2022, S. 264–275
Simmering J, Hermes L, Schneider A, Schilling M. Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot. In: Cascalho JM, Tokhi MO, Silva MF, Mendes A, Goher K, Funk M, eds. Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems. Cham: Springer International Publishing; 2022:264-275. doi:10.1007/978-3-031-15226-9_26
Simmering, J., Hermes, L., Schneider, A., & Schilling, M. (2022). Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot. In J. M. Cascalho, M. O. Tokhi, M. F. Silva, A. Mendes, K. Goher, & M. Funk (Eds.), Robotics in Natural Settings. CLAWAR 2022 (pp. 264–275). Cham: Springer International Publishing. https://doi.org/10.1007/978-3-031-15226-9_26
@inproceedings{Simmering_Hermes_Schneider_Schilling_2022, place={Cham}, series={Lecture Notes in Networks and Systems}, title={Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot}, DOI={10.1007/978-3-031-15226-9_26}, booktitle={Robotics in Natural Settings. CLAWAR 2022}, publisher={Springer International Publishing}, author={Simmering, Janneke and Hermes, Luca and Schneider, Axel and Schilling, Malte}, editor={Cascalho, José M. and Tokhi, Mohammad Osman and Silva, Manuel F. and Mendes, Armando and Goher, Khaled and Funk, MatthiasEditors}, year={2022}, pages={264–275}, collection={Lecture Notes in Networks and Systems} }
Simmering, Janneke, Luca Hermes, Axel Schneider, and Malte Schilling. “Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot.” In Robotics in Natural Settings. CLAWAR 2022, edited by José M. Cascalho, Mohammad Osman Tokhi, Manuel F. Silva, Armando Mendes, Khaled Goher, and Matthias Funk, 264–75. Lecture Notes in Networks and Systems. Cham: Springer International Publishing, 2022. https://doi.org/10.1007/978-3-031-15226-9_26.
J. Simmering, L. Hermes, A. Schneider, and M. Schilling, “Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot,” in Robotics in Natural Settings. CLAWAR 2022, Ponta Delgada. Azores, Portugal, 2022, pp. 264–275.
Simmering, Janneke, et al. “Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot.” Robotics in Natural Settings. CLAWAR 2022, edited by José M. Cascalho et al., Springer International Publishing, 2022, pp. 264–75, doi:10.1007/978-3-031-15226-9_26.
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