Biomimetic Control Of Multi-legged Walking Robots

Because of the multiped walking character, multi-legged walking robots own obvious priorities in motion and working under unstructured and unconfirmed environment comparing to wheeled robots. Based on such reason, people wish the control of multiped robots are more agile and own higher self-control abilities. To reach such aim, it is needed to research on the control architecture of multi-legged walking robots.The research and design of multi-legged walking robots source from multiped animals, which have billions of evolution history and can survive well under complex and varied environment. So we use the behavior control ways of multiped animals for reference, study on the biomimetic control principle and method of multi-legged walking robots.This article research the biomimetic control of multi-legged walking robots, proposes a biomimetic control architecture suitable to multi-legged walking robots, and classify the life control behavior way of multiped animals into five kinds, that is taxis action, reflex action, instinctive action, deliberate action and social action. Biomimetic control theory is studied, which has the ability of study and evolution.Based on biomimetic control theory, a concept model of biomimetic control architecture of multi-legged walking robots is proposed, which is made up of four blocks, that is information sensing, information communication, behavior generation, and joint driver blocks. Design method of each behavior control layer in the concept model is studied, and biomimetic control algorithm which realizes the study and evolution between different behavior control layers is researched. A physical model of biomimetic control architecture of multi-legged walking robots is proposed using software-hardware codesign method, and four blocks of biomimetic control architecture are designed, which construct the biomimetic control system of multi-legged walking robots.Then, a biomimetic control simulation platform of multi-legged walking robots is built, and several simulation on basic behavior control which use a reconfigurable modular walking robot named MiniQuad as prototype are carried out. The simulation results validate the biomimetic control architecture model and biomimetic control method of multi-legged walking robot.