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A general locomotion control framework for multi-legged locomotors.

Baxi Chong1, Yasemin O Aydin2, Jennifer M Rieser3

  • 1Georgia Institute of Technology, North Ave NW, Atlanta, GA 30332, United States of America.

Bioinspiration & Biomimetics
|May 9, 2022
PubMed
Summary
This summary is machine-generated.

We developed a general framework to control multi-legged robots, combining body deformation and leg coordination for improved mobility in confined spaces. This approach enhances locomotion for robots with varying limb configurations.

Keywords:
geometric mechanicslocomotionmulti-legged

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Area of Science:

  • Robotics
  • Biomechanics
  • Control Systems

Background:

  • Serially connected robots offer potential for confined space tasks like disaster rescue.
  • Limbless robots lack mobility, and adding limbs presents control challenges due to high-dimensional redundancy.

Purpose of the Study:

  • To develop a general framework for controlling serially connected multi-legged robots.
  • To discover control templates that improve mobility through coordinated body deformation and leg actuation.

Main Methods:

  • Combined dimensionality reduction and biological gait classification to generate cyclic body deformation and foot-lifting patterns.
  • Extended geometric mechanics to frictional environments for optimizing body-leg coordination.
  • Tested gaits on robots with 0, 4, 6, and 16 limbs.

Main Results:

  • Developed a unified control scheme for diverse robot morphologies and limb counts.
  • Demonstrated effective locomotion on flat terrain by coordinating body undulation and leg placement.
  • Showcased a hybrid approach combining limbless robot modularity with legged robot mobility.

Conclusions:

  • The framework provides generalizable control schemes for rapid deployment of multi-legged robots in complex environments.
  • The approach offers insights into biomechanical body-leg coordination in living organisms like salamanders and centipedes.