Bio-inspired navigation and exploration system for a hexapod robotic platform

dc.creatorPardo Cabrera, Josh
dc.creatorRivero Ortega, Jesús David
dc.creatorHurtado López, Julián
dc.creatorRamírez Moreno, David Fernando
dc.date.accessioned2023-05-09T14:57:08Z
dc.date.accessioned2023-06-06T14:17:56Z
dc.date.available2023-05-09T14:57:08Z
dc.date.available2023-06-06T14:17:56Z
dc.date.created2023-05-09T14:57:08Z
dc.date.issued2022-05-16
dc.identifier26318695
dc.identifierhttps://hdl.handle.net/10614/14721
dc.identifierUniversidad Autónoma de Occidente
dc.identifierRepositorio Educativo Digital UAO
dc.identifierhttps://red.uao.edu.co/
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/6649290
dc.description.abstractThis 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
dc.languageeng
dc.publisherIOP Publishing Ltd
dc.relation18
dc.relation1
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dc.relationPardo Cabrera, J., Rivero Ortega, J.D., Hurtado López, J., Ramírez Moreno, D.F. (2022). Bio-inspired navigation and exploration system for a hexapod robotic platform. Engineering Research Express, vol 4, pp. 1-18
dc.relationEngineering Research Express
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dc.rightshttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsAtribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)
dc.rightsDerechos reservados - IOP Publishing, 2022
dc.titleBio-inspired navigation and exploration system for a hexapod robotic platform
dc.typeArtículo de revista


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