Dirk Spenneberg

Biomimetic walking robot SCORPION: Control and modeling

Abstract We present the biomimetic control scheme for the walking robot SCORPION. We used a concept of Basic Motion Patterns, which can be combined in a very flexible manner. Also reflexes are introduced to increase the reactivity. In addition our modeling and simulation approach is described, which has been done based on the ADAMS™ simulator. Especially the motion patterns of real scorpions were analyzed and used for walking patterns and smooth acceleration of the robot.

Stability of walking in a multilegged robot suffering leg loss

This article describes: tests of fault tolerance of the eight-legged walking robot SCORMON in the event of leg loss. It evaluates different gaits, which are based on biological research on insect and arachnid walking and concludes with a discussion, what the best gait for the SCORPION system is, when 2 legs are lost It also includes a short introduction to the SCORPION robot and its biomimetic software approach and its performance in different terrain.

A Hybrid Locomotion Control Approach

This paper presents the joint control part of a new hybrid locomotion control concept. The concept is based on a CPG-model, a reflex model inspired by artificial neurons, and a posture control model. It has been successfully tested on the 8-legged walking robot SCORPION.

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control, which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system‘s individual capabilities and its capacity to function as a „scout“, cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system‘s capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

AIMEE: A Four-Legged Robot for RoboCup Rescue

This paper presents a servo-based four-legged robot — named AIMEE — for the RoboCup Rescue competition.

The Construction of the Four Legged Prototype Robot ARAMIES

This paper describes the mechanical design of the ARAMIES integration study, a four legged robot. It combines newly developed electronic, mechanical, and software components building a fully functional ambulating system. The mechanical concept aims at flexible kinematics and robustness of all components. Therefore, a modular construction kit with specially designed parts is used.

C-Manipulator: An Autonomous Dual Manipulator Project for Underwater Inspection and Maintenance

We present the new project C-Manipulator (funded by the German Ministry of Economics (BMWI), Grant No. 03SX231). The goal of C-Manipulator is the development of an autonomous, modular, dual manipulator system for underwater applications. This paper provides an overview over the project. It explains shortly the relevance of autonomous underwater manipulation. Then it describes briefly the state-of-the-art, explains the new vision-based control approach featuring visual servoing techniques and the planned manipulator system design featuring the Sub-C Network. Furthermore, a new developed indoor test-bed using a gantry crane for UUV-simulation is introduced, which will be used to test the manipulator system under realistic conditions and to prepare the system for a final test in the Baltic sea, which is planned for 2009.Copyright

A Biologically Inspired Approach Toward Autonomous Real-World Robots

We present an approach inspired by biological principles to design the control system for an eight-legged walking robot. The approach is based on two biological control primitives: central pattern generators and coupled reflexes. By using these mechanisms we can achieve omnidirectional walking and smooth gait transitions in a high-degree-of-freedom (14) walking machine. Additionally, the approach allows us to freely mix rhythmic activity with posture changes of the robot without reducing forward speed. This approach has proved to be extremely successful on rough terrain and has been evaluated in real-world tests over a variety of different substrates.

Die Softwarearchitektur eines Laufroboters für RoboCup Rescue AIMEE

Dieser Artikel beschreibt den verhaltensbasierten Kontrollansatz des Laufroboters AIMEE, des ersten vierbeinigen Laufroboters, der am RoboCup Rescue teilnahm. Zur Bewegungssteuerung des Roboters kommen bio-inspirierten Ansatze zum Einsatz. Zur Erzeugung der rhythmischen Bewegung werden Modelle fur Zentrale Mustergeneratoren (CPG) auf Basis von Bezier-Splines verwendet. Zur Nachahmung biologischer Reflexe werden trainierte sensorgetriggerte neuronale Netze verwendet.

Bio-Inspired Locomotion for Underwater Exploration and Investigation

We present ideas on using bio-inspired locomotion concepts for robotic underwater applications. The technology of land-based bio-inspired walking robots improved a lot in the last decade; systems like The SCORPION [1], Rhex or DANTE II have proven that high mobility in rough terrain can be achieved. Walking is a locomotion technique which can be found in underwater animals like lobsters, crayfish, or prawn. These animals can be found in the littoral zone of the oceans and rivers, which are a very challenging environment. Crayfish and prawn can live in rough terrain like the slope of a black smoker, too. They are especially able to adapt to irregular ground contours, current, wave action and surge. For example, lobsters can navigate around obstacles such as rocks, crevices and seaweed. Lobsters flourish in the benthic and littoral environments and have developed robust control systems for locomotion, sensing, and searching behavior. These control systems present a proven solution [2, 5, 11]. No artificial wheeled or swimming system is able to navigate as robustly as lobsters or crayfish in such underwater environments. Thus studying the behavior of animals in the littoral zone and using their control principles for robots seems to be a promising way to close this gap. Therefore we analysed past research in this direction, e.g. the ARIEL and the NEU Lobster project and propose new ideas based on our existing systems [1, 3, 15] for a robust underwater walking platform. We present a possible control concept for such an underwater walking system. Furthermore we discuss possible application scenarios like mine detection or environmental monitoring and non-littoral applications like inspection and maintenance of underwater structures and buildings or service for offshore wind energy parks.© 2006 ASME