Einladung zur hochschulöffentlichen Disputation

von Herrn Guoyuan Li

Mittwoch, 10. Juli 2013, 10 Uhr s.t.

Informatikum, Vogt-Kölln-Str. 30, Haus F, Raum 334

“Hierarchical Control of Limbless Locomotion Using a Bio-inspired CPG Model”

Abstract:

Limbless robots have been a hot topic in the last few decades. They have the potential ability to perform various highly efficient movements in different environments, taking advantage of the features of limbless locomotion, such as a low center of gravity, a large contact area and a distributed mass. State-of-the-art control methods can provide the limbless robots with a certain degree of locomotion capability. However, they are typically limited to simple applications. Due to the challenges of modelling and control issues, how to design intelligent and autonomous locomotion control for limbless robots is seldom discussed.

This thesis deals with the locomotion control of limbless robots, concentrating specifically on the study of a hierarchical control architecture as steps toward developing limbless robots capable of 3D locomotion, fast reflex responses, as well as sophisticated responses to environmental stimuli. On the fine-scale level, a CPG model inspired by the neuronal circuit diagram in the spinal cord of swimming lampreys is designed. The CPG model has rich dynamic properties and explicit control parameters, and provides interfaces for sensory feedback integration. Based on the CPG model, four types of limbless gaits, i.e., side winding, rolling, turning and flapping, are designed and implemented.

In order to generate fast responses to external stimuli, a reflex mechanism is realized by incorporating the concept of reflex arc into the CPG model. On the large-scale level, a closed-loop control framework that combines the CPG model with learning methods is developed for achieving adaptive limbless locomotion on uneven terrains. Simulation and on-site experiments results demonstrate that the hierarchical control architecture is a solid control platform for improving the locomotive behaviors of limbless robots.

Kontakt:

Prof. Dr. Christopher Habel
Vorsitzender des Fach-Promotionssausschusses Informatik