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Integrative Biomimetics of Autonomous Hexapedal Locomotion.

Volker Dürr1,2, Paolo P Arena3, Holk Cruse2

  • 1Department of Biological Cybernetics, Faculty of Biology, Bielefeld University, Bielefeld, Germany.

Frontiers in Neurorobotics
|November 12, 2019
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Summary

Researchers developed the HECTOR hexapod robot to integrate neuroscience and engineering concepts for biomimetic locomotion. This platform facilitates research in areas like motor control, sensory feedback, and cognitive abilities in robots.

Keywords:
complianceinternal modelleg coordinationload sensingmotor controlmotor learningproprioceptionwalking

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Area of Science:

  • Biomimetics
  • Neuroscience
  • Robotics Engineering

Background:

  • Neurorobotics and biomimetic robots have advanced significantly.
  • A major challenge is integrating disparate research from neurosciences and engineering.

Purpose of the Study:

  • To address the challenge of concept integration in neurorobotics.
  • To introduce a robotic integration platform for autonomous locomotion research.

Main Methods:

  • Development of the HECTOR hexapod robot, a platform for integrative biomimetics.
  • Focus on compliant actuation, distributed proprioception, and multi-leg control.
  • Incorporation of internal representations and body models for motor control.

Main Results:

  • HECTOR serves as a research platform for hexapedal locomotion.
  • Its design features 18 sensorized compliant actuators and a lightweight exoskeleton.
  • The platform supports research in actuation, sensory-motor feedback, inter-leg coordination, and cognitive functions.

Conclusions:

  • Robotic integration platforms are crucial for advancing neurorobotics.
  • HECTOR enables integrated research across various biomimetics domains.
  • The platform facilitates studies on motion planning and body size learning in robots.