Self‐Organized Stick Insect‐Like Locomotion under Decentralized Adaptive Neural Control: From Biological Investigation to Robot Simulation

Author:

Larsen Alexander Dupond1ORCID,Büscher Thies H.2ORCID,Chuthong Thirawat3ORCID,Pairam Thipawan3ORCID,Bethge Hendrik2ORCID,Gorb Stanislav N.2ORCID,Manoonpong Poramate13ORCID

Affiliation:

1. Embodied AI and Neurorobotics Lab, SDU Biorobotics The Mærsk Mc‐Kinney Møller Institute University of Southern Denmark Campusvej 55 Odense M 5230 Denmark

2. Department of Functional Morphology and Biomechanics Zoological Institute Kiel University Am Botanischen Garten 1-9 24118 Kiel Germany

3. Bio‐inspired Robotics and Neural Engineering Lab School of Information Science and Technology Vidyasirimedhi Institute of Science and Technology Wangchan Valley 555 Moo 1 Payupnai, Wangchan Rayong 21210 Thailand

Abstract

AbstractLiving animals and legged robots share similar challenges for movement control. In particular, the investigation of neural control mechanisms for the self‐organized locomotion of insects and hexapod robots can be informative for other fields. The Annam stick insect Medauroidea extradentata is used as a template to develop a biorobotic model to infer walking self‐organization with strongly heterogeneous leg lengths. Body dimensions and data on the walking dynamics of the actual stick insect are used for the development of a neural control mechanism, generating self‐organized gait patterns that correspond to the real insect observations. The combination of both investigations not only proposes solutions for distributed neural locomotion control but also enables insights into the neural equipment of the biological template. Decentralized neural central pattern generation is utilized with phase modulation based on foot contact feedback to generate adaptive periodic base patterns and a radial basis function premotor network in each leg based on the target trajectories of actual stick insect legs during walking for complex intralimb coordination and self‐organized interlimb coordination control. Furthermore, based on both study objects, a robot with heterogeneous leg lengths is constructed to preliminary validate the findings from the simulations and real insect observations.

Funder

Human Frontier Science Program

Publisher

Wiley

Subject

Multidisciplinary,Modeling and Simulation,Numerical Analysis,Statistics and Probability

Reference104 articles.

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