Discrete Movement Control of a Bio-Inspired Multi-Legged Robot

  • Helton S. Nogueira UFAM
  • Felipe G. Oliveira UFAM
  • José L. S. Pio UFAM


Bio-inspired robots have been widely used in different scenarios and applications such as disaster environments, mining industry, environmental monitoring, among others. In this sense, the locomotion control is a paramount operation for efficient and safe navigation of bio-inspired robots. Several locomotion controllers have been proposed to address the referred problem. Most of the techniques in literature represent the locomotion control through continuous systems. However, for a well-known set of events, like the movement control adjustment in different conditions, a discrete event-based approach can result in accurate and robust locomotion control. In this paper, we propose a discrete-event representation for multi-legged robot movements through finite state machines, regarding three different locomotion gaits and rotating operations. We demonstrate with indoor real-world experiments that, the proposed discrete-event representation can successfully supports multi-legged locomotion in different gait movements.
Palavras-chave: Service robots, Navigation, Conferences, Education, Robot sensing systems, Control systems, Continuous time systems
Como Citar

Selecione um Formato
NOGUEIRA, Helton S.; OLIVEIRA, Felipe G.; PIO, José L. S.. Discrete Movement Control of a Bio-Inspired Multi-Legged Robot. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 13. , 2021, Online. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2021 . p. 174-179.