Conference Paper

Harmonic Versus Chaos Controlled Oscillators in Hexapedal Locomotion

Abstract

The behavioural diversity of chaotic oscillator can be controlled into periodic dynamics and used to model locomotion using central pattern generators. This paper shows how controlled chaotic oscillators may improve the adaptation of the robot locomotion behaviour to terrain uncertainties when compared to nonlinear harmonic oscillators. This is quantitatively assesses by the stability, changes of direction and steadiness of the robotic movements. Our results show that the controlled Wu oscillator promotes the emergence of adaptive locomotion when deterministic sensory feedback is used. They also suggest that the chaotic nature of chaos controlled oscillators increases the expressiveness of pattern generators to explore new locomotion gaits.

Attached files

Authors

Fuente, Luis A.
Lones, Michael A.
Crook, Nigel T.
Olde Scheper, Tjeerd V.

Oxford Brookes departments

Faculty of Technology, Design and Environment
School of Engineering, Computing and Mathematics

Dates

Year of publication: 2015
Date of RADAR deposit: 2020-12-07

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Related resources

This RADAR resource is the Accepted Manuscript of Harmonic Versus Chaos Controlled Oscillators in Hexapedal Locomotion
This RADAR resource is Part of Information Processing in Cells and Tissues: 10th International Conference, IPCAT 2015, San Diego, CA, USA, September 14-16, 2015, Proceedings