Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs
In this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs. Because the pre-designed controller cannot be executed when the robot is damaged, a control strategy to avoid task failures in such a scenario sho...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/9/4/799 |
| _version_ | 1818995003999911936 |
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| author | Sarun Chattunyakit Yukinori Kobayashi Takanori Emaru Ankit A. Ravankar |
| author_facet | Sarun Chattunyakit Yukinori Kobayashi Takanori Emaru Ankit A. Ravankar |
| author_sort | Sarun Chattunyakit |
| collection | DOAJ |
| description | In this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs. Because the pre-designed controller cannot be executed when the robot is damaged, a control strategy to avoid task failures in such a scenario should be developed. Not only the control method but also the shape and structure of the robot itself are significant for the robot to be able to move again after damage. We present a caterpillar-inspired quadruped robot (CIQR) and a self-learning mudskipper inspired crawling (SLMIC) algorithm in this research. The CIQR is realized by imitating the prolegs of caterpillars and by using a numerical optimization technique. A reinforcement learning method called Q-learning is employed to improve the adaptability of locomotion based on the crawling behavior of mudskipper. The results show that the proposed robotic platform and recovery method can improve the moving ability of the damaged quadruped robot with a few active legs in both simulations and experiments. Moreover, we obtained satisfactory results showing that a damaged multi-legged robot with at least one leg could travel properly along the required direction. Furthermore, the presented algorithm can successfully be employed in a damaged quadruped robot with fewer than four legs. |
| first_indexed | 2024-12-20T21:06:56Z |
| format | Article |
| id | doaj.art-160dcf4dbec1479f868a9a20dd1bca8a |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-20T21:06:56Z |
| publishDate | 2019-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-160dcf4dbec1479f868a9a20dd1bca8a2022-12-21T19:26:35ZengMDPI AGApplied Sciences2076-34172019-02-019479910.3390/app9040799app9040799Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional LegsSarun Chattunyakit0Yukinori Kobayashi1Takanori Emaru2Ankit A. Ravankar3Division of Human Mechanical Systems and Design, Graduate School of Engineering, Hokkaido University N13W8, Kita-ku, Sapporo, Hokkaido 060-8628, JapanDivision of Human Mechanical Systems and Design, Faculty of Engineering, Hokkaido University N13W8, Kita-ku, Sapporo, Hokkaido 060-8628, JapanDivision of Human Mechanical Systems and Design, Faculty of Engineering, Hokkaido University N13W8, Kita-ku, Sapporo, Hokkaido 060-8628, JapanDivision of Human Mechanical Systems and Design, Faculty of Engineering, Hokkaido University N13W8, Kita-ku, Sapporo, Hokkaido 060-8628, JapanIn this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs. Because the pre-designed controller cannot be executed when the robot is damaged, a control strategy to avoid task failures in such a scenario should be developed. Not only the control method but also the shape and structure of the robot itself are significant for the robot to be able to move again after damage. We present a caterpillar-inspired quadruped robot (CIQR) and a self-learning mudskipper inspired crawling (SLMIC) algorithm in this research. The CIQR is realized by imitating the prolegs of caterpillars and by using a numerical optimization technique. A reinforcement learning method called Q-learning is employed to improve the adaptability of locomotion based on the crawling behavior of mudskipper. The results show that the proposed robotic platform and recovery method can improve the moving ability of the damaged quadruped robot with a few active legs in both simulations and experiments. Moreover, we obtained satisfactory results showing that a damaged multi-legged robot with at least one leg could travel properly along the required direction. Furthermore, the presented algorithm can successfully be employed in a damaged quadruped robot with fewer than four legs.https://www.mdpi.com/2076-3417/9/4/799fault recoveryreinforcement learninggait adaptationlegged robotbio-inspired robot |
| spellingShingle | Sarun Chattunyakit Yukinori Kobayashi Takanori Emaru Ankit A. Ravankar Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs Applied Sciences fault recovery reinforcement learning gait adaptation legged robot bio-inspired robot |
| title | Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs |
| title_full | Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs |
| title_fullStr | Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs |
| title_full_unstemmed | Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs |
| title_short | Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs |
| title_sort | bio inspired structure and behavior of self recovery quadruped robot with a limited number of functional legs |
| topic | fault recovery reinforcement learning gait adaptation legged robot bio-inspired robot |
| url | https://www.mdpi.com/2076-3417/9/4/799 |
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