Locomotion control of a hexapod by Turing patterns

Marco Pavone, Michael Stich, Bernhard Streibl

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In this paper, the reflexive behavior of a biomorphic adaptive robot is analyzed. The motion generation of the robot is governed by a Reaction-Diffusion Cellular Neural Network (RD-CNN) that evolves towards a Turing pattern representing the action pattern of the robot. The initial conditions of this RD-CNN are given by the sensor input. The proposed approach is particularly valuable when the number of sensors is high, being able to perform data compression in real-time through analog parallel processing. An experiment using a small 6-legged robot realized in Lego MindStorms™ with three sensors is presented to validate the approach. A simulated 3×3 CNN is used to control this hexapod.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing AG
Pages213-219
Number of pages7
DOIs
Publication statusPublished - 1 Jan 2008

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume500
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Fingerprint

Hexapod
Turing Patterns
Locomotion
Cellular neural networks
Robot
Reaction-diffusion
Robots
Cellular Networks
Sensor
Sensors
Neural Networks
Legged Robots
Intelligent robots
Data compression
Data Compression
Parallel Processing
Initial conditions
Analogue
Real-time
Motion

Keywords

  • Back Part
  • Central Pattern Genus
  • Command Neuron
  • Front Part
  • Turing Pattern

Cite this

Pavone, M., Stich, M., & Streibl, B. (2008). Locomotion control of a hexapod by Turing patterns. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 213-219). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 500). Springer International Publishing AG. https://doi.org/10.1007/978-3-211-78775-5_16
Pavone, Marco ; Stich, Michael ; Streibl, Bernhard. / Locomotion control of a hexapod by Turing patterns. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG, 2008. pp. 213-219 (CISM International Centre for Mechanical Sciences, Courses and Lectures).
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Pavone, M, Stich, M & Streibl, B 2008, Locomotion control of a hexapod by Turing patterns. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 500, Springer International Publishing AG, pp. 213-219. https://doi.org/10.1007/978-3-211-78775-5_16

Locomotion control of a hexapod by Turing patterns. / Pavone, Marco; Stich, Michael; Streibl, Bernhard.

CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG, 2008. p. 213-219 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 500).

Research output: Chapter in Book/Report/Conference proceedingChapter

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Pavone M, Stich M, Streibl B. Locomotion control of a hexapod by Turing patterns. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing AG. 2008. p. 213-219. (CISM International Centre for Mechanical Sciences, Courses and Lectures). https://doi.org/10.1007/978-3-211-78775-5_16