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Bioinspired Soft Robot with Incorporated Microelectrodes

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AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired Capabilities.

Azhar Aulia Saputra¹, Naoyuki Takesue¹, Kazuyoshi Wada¹

¹Graduate School of Systems Design, Tokyo Metropolitan University, Hino-shi, Japan.

Frontiers in Robotics and AI

|April 29, 2021

Summary

This study introduces an adaptive quadruped robot with novel sensory and locomotion systems. The robot successfully navigates challenging terrains, including vertical ladders, demonstrating enhanced adaptability.

Keywords:

bio-inspired model internal-external sensory information neural-based locomotion novel capabilities quadruped robot

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Area of Science:

Robotics
Artificial Intelligence
Biomimetics

Background:

Quadruped robots face challenges in complex terrains like vertical ladders.
There is a need for adaptive robots capable of efficient walking and climbing.

Purpose of the Study:

To present an adaptive quadruped robot with novel capabilities inspired by feline structure.
To develop a robot that integrates sensory information for adaptive locomotion.

Main Methods:

Designed a novel paw structure and point-cloud-based sensory systems (quad-composite time-of-flight sensor, dual-laser range finder).
Implemented dynamic-density topological map building with an attention model and affordance perception.
Developed a neural-based locomotion model for integrated sensory-motor control.

Main Results:

The robot demonstrated effective walking on natural terrain and with leg malfunction.
Successfully avoided sudden obstacles and climbed a vertical ladder.
Showcased strong integration between locomotion and sensory information for short-term adaptation.

Conclusions:

The proposed adaptive quadruped robot exhibits enhanced capabilities for complex terrain traversal.
The integration of novel sensory and cognitive systems enables efficient and adaptive locomotion.
This research advances the development of robots for challenging environmental interactions.