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62 B. Jakimovski, B. Meyer, and E. Maehle Fig. 1. ORCA - Organic Robotic Control Architecture and fault-tolerant robot operation and it is usually an exhausting task on analyzing all the situations the robot may operate in. Self-organizing robotic systems on the other hand would overcome such problems by dynamically adapting to the situation without any complete pre-defining and modeling of the robotic system. We have done research on combining our ORCA - Organic Robotic Control Architecture (Fig. 1) [14] with organically inspired approaches in order to achieve a selforganizing walking robotic system. ORCA architecture is modular architecture that consists of several OCU (Organic Control Unit) and BCU (Basic Control Unit) elements. The OCUs are related to monitoring tasks and observing the correct functioning of BCUs. BCUs are related to tasks such as: motor control, sensors, leg gait generation, etc. The system is said to be self-organizing when the overall behavior of the system is a result of emergence, and not of a pre-ordained design [15]. The emergent property [16] [17] [18] of the systems arises as a result of simple local interactions of the components of the system and it cannot be anticipated even from complete information about the individual components constituting the system. One type of emergence is synchrony, which is a collective organized behavior that occurs in populations of coupled oscillators [19]. Synchrony can be also observed in nature within fireflies and their flashing [20] [21]. In this paper we present the results of investigations done on applying biologically inspired synchronization for achieving self-synchronization for gait pattern parameters by joint-leg walking robots using the distributed and fault-tolerant robot control architecture - ORCA. The rest of the paper is organized as follows: In the second chapter we give a short overview on firefly-based synchronization as biological inspiration for our concept.
Firefly Flashing Synchronization as Inspiration for Self-synchronization 63 In the third chapter we introduce our robot demonstrator on which we conduct the experiments and we present how the ORCA architecture is mapped to the morphology of the six-legged robot OSCAR in this self-synchronizing approach. In the fourth chapter we describe in detail our concept for self-synchronization of robot gait patterns. In the fifth chapter we present the results from real experiments done on our hexapod robot. 2 Firefly Flashing Synchronization Firefly flashing is an example of synchronization seen in nature. Neuropsychological studies of the mechanism of flashing within fireflies [22] [23] has shown that rhythmic flashing of the male fireflies is controlled by a neural timing mechanism in the brain that gives a constant frequency of the flashing. Several studies [24] [25] have shown that external light, such as the light from other neighboring fireflies has an effect on firefly’s flashing rhythm. In [26] [27] [28] results from experiments were presented that suggest that the external flash signal received from another firefly resets the flash-timing oscillator in the brain and therefore provides mechanism for synchronization of fireflies flashing. In general, when one firefly sees the flashing of another neighboring firefly it shifts its rhythm of flashing in order to get in synchrony with another firefly’s flashing. As a result a synchrony in firefly flashing takes place. Such ideas of biologically inspired synchrony have been practically applied in engineering domains and mostly for achieving self-organized synchronization in networks [29] [30] [31]. For the domain of robotics, research has been conducted on synchronizing the behavior of robots in multi-robotic systems [32]. On the other hand, we are here interested on applying the firefly biologically inspired synchronization within one single robotic system – our hexapod walking robot. The idea behind this is that we consider the robot’s legs as individual units that can interact like fireflies and synchronize their gait patterns. 3 Robot Demonstrator - OSCAR (Organic Self Configuring and Adapting Robot) We have conducted the experiments for firefly inspired gait pattern selfsynchronisation on our 18 DOF, hexapod robot OSCAR (Organic Self Configuring and Adapting Robot) [33] [34] shown in Fig. 2 (a). The robot has six legs, with three servos per leg - named as alpha, beta and gamma (see Fig. 2), feet sensors, onboard control hardware and other sensors like ultrasonic, infrared, etc. Depending on their spatial location on the leg, the servos on the robot’s legs are related to: protraction and retraction; elevation and depression; extension and flexion. In Fig. 2 (b), swing and stance phases of the robot’s leg and their trajectories are presented. The swing and stance movements of the legs are essential for the robot movement. In the swing phase, the leg is moving from the posterior extreme position (PEP) to anterior extreme position (AEP) – shown in the same figure. In the stance phase, the leg is moving from AEP to PEP, which produces thrust that moves the robot over the ground.
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Lecture Notes in Computer Science 5
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Volume Editors Christian Müller-Sc
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General Chair Organization Christia
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Organization IX Hartmut Schmeck Kar
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Keynote Table of Contents HyVM - Hy
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Table of Contents XIII JetBench:AnO
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How to Enhance a Superscalar Proces
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130 M. Kayaalp et al. INSTRUCTION 1
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Abdullah, Tariq 174 Alima, Luc Onan
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