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datasheet1_AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired (267.38 kB)

datasheet1_AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired

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posted on 12.04.2021, 04:54 authored by Azhar Aulia Saputra, Naoyuki Takesue, Kazuyoshi Wada, Auke Jan Ijspeert, Naoyuki Kubota

There are currently many quadruped robots suited to a wide range of applications, but traversing some terrains, such as vertical ladders, remains an open challenge. There is still a need to develop adaptive robots that can walk and climb efficiently. This paper presents an adaptive quadruped robot that, by mimicking feline structure, supports several novel capabilities. We design a novel paw structure and several point-cloud-based sensory structures incorporating a quad-composite time-of-flight sensor and a dual-laser range finder. The proposed robot is equipped with physical and cognitive capabilities which include: 1) a dynamic-density topological map building with attention model, 2) affordance perception using the topological map, and 3) a neural-based locomotion model. The novel capabilities show strong integration between locomotion and internal–external sensory information, enabling short-term adaptations in response to environmental changes. The robot performed well in several situations: walking on natural terrain, walking with a leg malfunction, avoiding a sudden obstacle, climbing a vertical ladder. Further, we consider current problems and future development.