ICRA 2011 Paper Abstract


Paper TuA209.3

Moreno Garcia, Rodrigo (Universidad Nacional de Colombia), Gomez Perdomo, Jonatan (Universidad Nacional de Colombia)

Central Pattern Generators and Hormone Inspired Messages: A Hybrid Control Strategy to Implement Motor Primitives on Chain Type Modular Reconfigurable Robots

Scheduled for presentation during the Regular Sessions "Cellular and Modular Robots II" (TuA209), Tuesday, May 10, 2011, 10:35−10:50, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Cellular and Modular Robots, Reactive and Sensor-Based Planning


This paper presents a hybrid strategy for controlling a chain type modular robot to achieve a better interaction with the environment based on the combination of Central Pattern Generators (CPG) and Hormone inspired control. Locomotion movements of robot chains are generated by the local interaction of CPG running inside each module. Hormone messages are used to propagate sensory feedback information to the CPG thus providing a way to define general motor primitives regardless of the specific role of a module and the configuration of the robotic structure. An example set of motor primitives is defined using the hybrid approach and tested in a simulated environment. Our results showed that the integration of the motor primitives using the hybrid strategy allows the robot to travel through an obstacle-filled uneven terrain.



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