Details

Autor(en) / Beteiligte

• Ren, Qinyuan
• Zhu, Wenxin
• Cao, Jiawei
• Liang, Wenyu

Titel

Neuro-Inspired Motion Control of a Soft Myriapod Robot

Ist Teil von

• IEEE transactions on cognitive and developmental systems, 2024-04, Vol.16 (2), p.606-617

Ort / Verlag

Piscataway: IEEE

Erscheinungsjahr

2024

Quelle

IEEE/IET Electronic Library (IEL)

Beschreibungen/Notizen

• Centipedes exploit soft structures to move efficiently in complex environments. These abilities have promoted scientists to develop centipede-like robots with soft robot technologies. In this article, a centipede-like robot constructed by multiple body segments connected in series is designed. Each body segment features a pair of antagonistic artificial muscles and four electro-adhesive feet, which plays the role of the basic motion unit of the centipede-like robot and can be regarded as a soft myriapod robot. To accomplish the desired movement tasks for the soft myriapod robot, this article proposes a neuro-inspired hierarchical motion control scheme according to the functions of the centipede brain. In the proposed control scheme, a mushroom body-inspired controller with an error-based learning mechanism is adopted for the soft actuator motion control, and a central complex-inspired deep reinforcement learning algorithm is designed for the robot motion selection. Finally, the effectiveness of the proposed motion control scheme is verified via both numerical studies and experiments.