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

Bojan Jakimovski; Benjamin Meyer; Erik Maehle

doi:10.1007/978-3-642-11950-7_7

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

Bojan Jakimovski, Benjamin Meyer, Erik Maehle

Institute of Computer Engineering

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.

Original language	English
Title of host publication	ARCS 2010: Architecture of Computing Systems - ARCS 2010
Number of pages	12
Volume	5974 LNCS
Publisher	Springer Berlin Heidelberg
Publication date	01.12.2010
Pages	61-72
ISBN (Print)	978-3-642-11949-1
ISBN (Electronic)	978-3-642-11950-7
DOIs	https://doi.org/10.1007/978-3-642-11950-7_7
Publication status	Published - 01.12.2010
Event	23rd International Conference on Architecture of Computing Systems - Hannover, Germany Duration: 22.02.2010 → 25.02.2010 Conference number: 83274

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Jakimovski, B., Meyer, B., & Maehle, E. (2010). Firefly flashing synchronization as inspiration for selfsynchronization of walking robot gait patterns using a decentralized Robot Control Architecture. In ARCS 2010: Architecture of Computing Systems - ARCS 2010 (Vol. 5974 LNCS, pp. 61-72). (Lecture Notes in Computer Science ; Vol. 5974 LNCS). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-642-11950-7_7

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

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.",

author = "Bojan Jakimovski and Benjamin Meyer and Erik Maehle",

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doi = "10.1007/978-3-642-11950-7_7",

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Jakimovski, B, Meyer, B & Maehle, E 2010, Firefly flashing synchronization as inspiration for selfsynchronization of walking robot gait patterns using a decentralized Robot Control Architecture. in ARCS 2010: Architecture of Computing Systems - ARCS 2010. vol. 5974 LNCS, Lecture Notes in Computer Science , vol. 5974 LNCS, Springer Berlin Heidelberg, pp. 61-72, 23rd International Conference on Architecture of Computing Systems
, Hannover, Lower Saxony, Germany, 22.02.10. https://doi.org/10.1007/978-3-642-11950-7_7

Firefly flashing synchronization as inspiration for selfsynchronization of walking robot gait patterns using a decentralized Robot Control Architecture. / Jakimovski, Bojan; Meyer, Benjamin; Maehle, Erik.
ARCS 2010: Architecture of Computing Systems - ARCS 2010. Vol. 5974 LNCS Springer Berlin Heidelberg, 2010. p. 61-72 (Lecture Notes in Computer Science ; Vol. 5974 LNCS).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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Jakimovski B, Meyer B, Maehle E. Firefly flashing synchronization as inspiration for selfsynchronization of walking robot gait patterns using a decentralized Robot Control Architecture. In ARCS 2010: Architecture of Computing Systems - ARCS 2010. Vol. 5974 LNCS. Springer Berlin Heidelberg. 2010. p. 61-72. (Lecture Notes in Computer Science ). doi: 10.1007/978-3-642-11950-7_7

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

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