Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots

Citation Author(s):: Jettanan Homchanthanakul (Bio-inspired Robotics and Neural Engineering Lab, Vidyasirimedhi Institute of Science and Technology)

Poramate Manoonpong (Bio-inspired Robotics and Neural Engineering Lab, Vidyasirimedhi Institute of Science and Technology)
Submitted by:: Jettanan Homchanthanakul
Last updated:: Thu, 01/05/2023 - 07:49
DOI:: 10.1109/LRA.2023.3234773
Data Format:: *.mp4
Research Article Link:: Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired…
Links:: Proactive Body Joint Adaptation

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Categories:

Keywords:

Body-joint adaptation

proactive control

correlation-based learning

bio-inspired robotics

multi-segment robot

multi-legged robot

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Abstract

Typically, control strategies for legged robots have been developed to adapt their leg movements to deal with complex terrain. When the legs are extended in search of ground contact to support the robot body, this can result in the center of gravity (CoG) being raised higher from the ground and can lead to unstable locomotion if it deviates from the support polygon. An alternative approach is body adaptation, inspired by millipede/centipede locomotion behavior, which can result in low ground clearance and stable locomotion. In this study, we propose novel proactive neural control with online unsupervised learning, allowing multi-segmented, legged robots to proactively adapt their body to follow the surface contour and maintain efficient ground contact. Our approach requires neither kinematics nor environmental models. It relies solely on proprioceptive sensory feedback and short-term memory, enabling the robots to deal with complex 3D terrains. In comparison to traditional reflex-based control, our approach results in smoother and more energy-efficient robot locomotion on terrains with concave and convex curves or slopes of varying degrees in both simulation and real-world implementation.

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Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots

There are seven supplementary videos illustrating the inspiration, process, and performance of our framework in different situations and platforms including simulation and real-world implementation.

Supplementary video 1 illustrates "The millipede locomotion on curved terrain."

Supplementary video 2 illustrates "The experiment to observe the robot's behavior using body-joint control on terrain adaptation."

Supplementary video 3 illustrates "The experiment of proactive body-joint control on the predictive weight learning process."

Supplementary video 4 illustrates "The experiment of proactive body-joint control on the different terrains in simulation."

Supplementary video 5 illustrates "The experiment of comparison between proactive body-joint control and traditional leg adaptation on 30-deg up and down ramps."

Supplementary video 6 illustrates "The experiment of comparison between proactive body-joint control and reflex-based control in real-world implementation."

Supplementary video 7 illustrates "The experiment of proactive body-joint control in a real-world outdoor environment of four-segmented robot."

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Funding Agency

the PTT Exploration and Production Public Co. Ltd. under the FREELANDER project

Grant Number

3450024742