Arid
DOI10.1007/978-3-319-95972-6_16
A Hexapod Walking Robot Mimicking Navigation Strategies of Desert Ants Cataglyphis
Dupeyroux, Julien; Serres, Julien; Viollet, Stephane
通讯作者Viollet, Stephane
会议名称7th International Conference on Biomimetic and Biohybrid Systems, Living Machines (LM)
会议日期JUL 17-20, 2018
会议地点Paris, FRANCE
英文摘要

In this study, a desert ant-inspired celestial compass and a bio-inspired minimalist optic flow sensor named M(2)APix (which stands for Michaelis Menten Auto-adaptive Pixels), were embedded onboard our 2 kg-hexapod walking robot called AntBot, in order to reproduce the homing behavior observed in desert ants Cataglyphis fortis. The robotic challenge here was to make the robot come back home autonomously after being displaced from its initial location. The navigation toolkit of AntBot comprises the celestial-based heading direction, and both stride- and ventral optic flow-based odometry, as observed in desert ants. Experimental results show that our bio-inspired approach can be useful for autonomous outdoor navigation robotics in case of GPS or magnetometer failure, but also to compensate for a drift of the inertial measurement unit. In addition, our strategy requires few computational resources due to the small number of pixels (only 14 here), and a high robustness and precision (mean error of 4.8 cm for an overall path ranging from 2 m to 5 m). Finally, this work presents highly interesting field results of ant-based theoretical models for homing tasks that have not been tested yet in insectoid robots.


英文关键词Celestial compass Polarized light Optic flow Outdoor navigation Homing Odometry Path integration Legged robot Biorobotics
来源出版物BIOMIMETIC AND BIOHYBRID SYSTEMS
ISSN0302-9743
EISSN1611-3349
出版年2018
卷号10928
页码145-156
ISBN978-3-319-95971-9
EISBN978-3-319-95972-6
出版者SPRINGER INTERNATIONAL PUBLISHING AG
类型Proceedings Paper
语种英语
国家France
收录类别CPCI-S
WOS记录号WOS:000473805000016
WOS关键词PATH-INTEGRATION ; MODEL
WOS类目Computer Science, Artificial Intelligence ; Robotics
WOS研究方向Computer Science ; Robotics
资源类型会议论文
条目标识符http://119.78.100.177/qdio/handle/2XILL650/307686
作者单位Aix Marseille Univ, CNRS, ISM, UMR 7287, Marseille, France
推荐引用方式
GB/T 7714
Dupeyroux, Julien,Serres, Julien,Viollet, Stephane. A Hexapod Walking Robot Mimicking Navigation Strategies of Desert Ants Cataglyphis[C]:SPRINGER INTERNATIONAL PUBLISHING AG,2018:145-156.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Dupeyroux, Julien]的文章
[Serres, Julien]的文章
[Viollet, Stephane]的文章
百度学术
百度学术中相似的文章
[Dupeyroux, Julien]的文章
[Serres, Julien]的文章
[Viollet, Stephane]的文章
必应学术
必应学术中相似的文章
[Dupeyroux, Julien]的文章
[Serres, Julien]的文章
[Viollet, Stephane]的文章
相关权益政策
暂无数据
收藏/分享

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。