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64 B. Jakimovski, B. Meyer, and E. Maehle (a) (b) Fig. 2. (a) Hexapod robot OSCAR (Organic Self Configuring and Adapting Robot); (b) Robot’s leg swing and stance phases and their trajectories The swing and stance phases are characterized with the length of their respective trajectories. The lengths of swing and stance trajectories have direct influence on the speed with which the robot is moving over the terrain. The longer the trajectories of swing and stance, the bigger the distance travelled by the leg on the ground. The tripod walking gait is the fastest and commonly observed gait by insect walking and lately transferred to robot walking, where in every moment of time three legs are in swing phase and the other three are in stance phase. This is shown in Fig. 3 (a).The legs of our hexapod robot and their numbering are shown on the robot model in Fig. 3 (b). (a) (b) Fig. 3. (a) Tripod gait pattern; (b) Model of hexapod robot OSCAR with legs numeration. The arrow is showing the front direction of the robot. Our firefly synchronization approach has also been designed to be used for robot walking using the ORCA architecture and emergent gait patterns (decentralized robot control). Each leg consists of an OCU (Organic Control Unit) which performs monitoring of the BCU (Basic Control Unit) actions. The BCUs are related to generating gait patterns, controlling of leg servo joint movements, etc. They send feedback
Firefly Flashing Synchronization as Inspiration for Self-synchronization 65 signals to an OCU which monitors the ‘health’ status of the leg. The BCU related to leg gait generation sends synchronization signals to other BCUs of other neighbouring legs. This is represented in Fig. 4. The self-synchronization achieved by this is explained in the next section. Therefore, besides the possibility for gait pattern generation in an emergent way [33], also the synchronization of walking gait patterns is achieved in a decentralized and self-organizing way. Such a decentralized leg control architecture is very important for developing fault-tolerant robotic systems. Fig. 4. Decentralized robot leg control architecture for gait pattern self-synchronization 4 Walking Robot Gait Pattern Self-synchronization Inspired by Firefly Flashing Synchronization The idea behind the synchronization of the gait patterns is that sometimes the gait pattern of the robot can change while the robot is walking. This may happen for example when the emergent walking pattern is used for the robot’s walking and some situations appear like: the leg is approaching some rock and some sensor (ultrasonic, infrared, etc.) related to the leg’s movement “informs” the leg that it should change the length of its stance/swing phase in order to overcome the obstacle. In that case the other legs have to synchronize their stance/swing phase as well. A similar situation may occur when perhaps the servo related for protraction of the leg gets somehow
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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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