Firefly flashing synchronization as inspiration for selfsynchronization of walking robot gait patterns using a decentralized Robot Control Architecture

Bojan Jakimovski, Benjamin Meyer, Erik Maehle

Abstract

In this paper we introduce and elaborate a biologically inspired methodology for robot walking gait pattern self-synchronization using ORCA (Organic Robot Control Architecture). The firefly based pulse coupled biological oscillator concept has been successfully applied for achieving self-organized synchronization of walking robot gait patterns by dynamically prolonging and shortening of robot's legs stance and swing phases. The results from the experiments done on our hexapod robot demonstrator show the practical usefulness of this biologically inspired approach for run-time self-synchronizing of walking robot gait pattern parameters.

OriginalspracheEnglisch
TitelARCS 2010: Architecture of Computing Systems - ARCS 2010
Seitenumfang12
Band5974 LNCS
Herausgeber (Verlag)Springer Berlin Heidelberg
Erscheinungsdatum01.12.2010
Seiten 61-72
ISBN (Print)978-3-642-11949-1
ISBN (elektronisch)978-3-642-11950-7
DOIs
PublikationsstatusVeröffentlicht - 01.12.2010
Veranstaltung23rd International Conference on Architecture of Computing Systems
- Hannover, Deutschland
Dauer: 22.02.201025.02.2010
Konferenznummer: 83274

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