AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired Capabilities
| Autor: | Auke Jan Ijspeert, Kazuyoshi Wada, Azhar Aulia Saputra, Naoyuki Takesue, Naoyuki Kubota |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Traverse quadruped robot Computer science lcsh:Mechanical engineering and machinery neural-based locomotion novel capabilities Terrain 02 engineering and technology lcsh:QA75.5-76.95 03 medical and health sciences 020901 industrial engineering & automation internal-external sensory information Artificial Intelligence lcsh:TJ1-1570 Topological map Affordance Original Research bio-inspired model 030304 developmental biology Robotics and AI 0303 health sciences Control engineering Computer Science Applications Climbing Obstacle Climb Robot lcsh:Electronic computers. Computer science |
| Zdroj: | Frontiers in Robotics and AI Frontiers in Robotics and AI, Vol 8 (2021) |
| ISSN: | 2296-9144 |
| DOI: | 10.3389/frobt.2021.562524 |
| Popis: | There are currently many quadruped robots suited to a wide range of applications, but traversing some terrains, such as vertical ladders, remains an open challenge. There is still a need to develop adaptive robots that can walk and climb efficiently. This paper presents an adaptive quadruped robot that, by mimicking feline structure, supports several novel capabilities. We design a novel paw structure and several point-cloud-based sensory structures incorporating a quad-composite time-of-flight sensor and a dual-laser range finder. The proposed robot is equipped with physical and cognitive capabilities which include: 1) a dynamic-density topological map building with attention model, 2) affordance perception using the topological map, and 3) a neural-based locomotion model. The novel capabilities show strong integration between locomotion and internal–external sensory information, enabling short-term adaptations in response to environmental changes. The robot performed well in several situations: walking on natural terrain, walking with a leg malfunction, avoiding a sudden obstacle, climbing a vertical ladder. Further, we consider current problems and future development. |
| Databáze: | OpenAIRE |
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