Knowledge Resource Center for Ecological Environment in Arid Area
DOI | 10.1007/978-3-319-95972-6_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 |
ISSN | 0302-9743 |
EISSN | 1611-3349 |
出版年 | 2018 |
卷号 | 10928 |
页码 | 145-156 |
ISBN | 978-3-319-95971-9 |
EISBN | 978-3-319-95972-6 |
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. |
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