Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors.

ABSTRACT: Self-organization of locomotion characterizes the feature of automatically spontaneous gait generation without preprogrammed limb movement coordination. To study this feature in quadruped locomotion, we propose here a new open-source, small-sized reconfigurable quadruped robot, called Lilibot, with multiple sensory feedback and its physical simulation. Lilibot was designed as a friendly quadrupedal platform with unique characteristics, including light weight, easy handling, modular components, and multiple real-time sensory feedback. Its modular components can be flexibly reconfigured to obtain features, such as different leg orientations for testing the effectiveness and generalization of self-organized locomotion control. Its multiple sensory feedback (i.e., joint angles, joint velocitie

SUBMITTER: Sun T 

PROVIDER: S-EPMC7054281 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature