Spider-robot 8-leg cooperative walking velocity control strategy based on environmental information

Abstract

This paper aims at realization of the walk of a spider as an organism, and intends to construct a robot that can walk with its 8 legs in cooperation with each other by adapting itself to various types of environmental information. A spider as an organism can walk on a variety of places by corresponding to a variety of environment. With the aid of neural networks and fuzzy control, decision-making or realization of the environment-adaptive walk is done. Utilizing the distance to the destination or fear information as surrounding environmental information, a report is hereby released with respect to the computer simulation and experimental result of walks ambiguously expressed in such a manner as "gradually accelerate speed" or "walk so as not to be tired".