Artículo de revista
Bio-inspired navigation and exploration system for a hexapod robotic platform
Fecha
2022-05-16Registro en:
26318695
Universidad Autónoma de Occidente
Repositorio Educativo Digital UAO
Autor
Pardo Cabrera, Josh
Rivero Ortega, Jesús David
Hurtado López, Julián
Ramírez Moreno, David Fernando
Institución
Resumen
This paper presents a biologically inspired system for guiding and controlling a virtual hexapod robot.
Our navigation and exploration system is composed of subsystems that execute processes of path
integration, action selection, actuator control and correction of the robot’s orientation. For the
subsystem that serves the path integration function we modified an existing model of bio-inspired
vector summation by adding the capability of performing online calculation. For the action selection
subsystem that allows to switch between the behaviors of exploration, approaching a target and
homing we modified an existing model of decision making for mediating social behaviors in mice. We
added an additional circuit that projects a signal to the units representing each of the behaviors. In the
case of the actuator control subsystem, the structure of a central pattern generator model that
incorporates feedback and adaptation was used as the base for generating and transforming signals for
the actuators. Finally, the orientation correction subsystem is a novel model that determines an error
value from a desired and the current orientations. The proposed models were simulated as
independent scripts and then implemented as ROS (Robot Operating System) nodes for controlling a
robot simulation in Gazebo