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Authors
P. Arena; L. Fortuna; M. Frasca; L. Patane

Identifier
10.3182/20060906-3-IT-2910.00126

Index Terms
autonomous hexapod robot,CNN-based CPG,navigation control,multi-layer hybrid structure

Abstract
In this paper a new architecture based on a multi-layer analog/digital control system is introduced and applied to an autonomous hexapod robot. The robot structure that consists of 18 degrees of freedom, is controlled by a network of multiple interconnected modules. The system can be tele-operated by a PC through a wireless communication link but it can also operate autonomously by using the information gathered from the sensory system equipped on board. Therefore various methodologies on bio-robot control can be directly implemented and experimentally validated. A set of experimental tests was carried out to characterize the robot performance when employed to accomplish different tasks. The experimental results acquired during a collision avoidance task are also reported and discussed.

References

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