Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod. Our locomotion model draws inspiration from the structure of a cockroach, with its fairly simple central nervous system, and results in our model being computationally inexpensive with simpler control mechanisms. We consider the limb morphology for a hexapod, the corresponding central pattern generators for its limbs, and the inter-limb coordination required to generate appropriate patterns in its limbs. We also designed two experiments to validate our locomotion model. Our first experiment models the predator-prey dynamics between a cockroach and its predator. Our second experiment makes use of a reinforcement learning-based algorithm, putting forward a realization of our locomotion model. These experiments suggest that this model will help realize practical hexapod robot designs.
翻译:开发六脚机器人或六肢机器人移动框架是一项复杂的任务,具有广泛的硬件和计算要求。 在本文中,我们提出了一个六肢机器人移动的生物激励框架。 我们的移动模型从蟑螂结构中汲取灵感,其中枢神经系统相当简单,结果我们的模型以更简单的控制机制计算成本低廉。 我们考虑六肢的四肢形态,其四肢相应的中央模式生成器,以及产生其四肢适当模式所需的相互协调。 我们还设计了两个实验来验证我们的移动模型。 我们的第一个实验模型是蟑螂与其掠食者之间的掠食性动力。 我们的第二个实验利用强化学习算法,推进我们移动模型的实现。 这些实验表明,这一模型将有助于实现实际的六肢机器人设计。