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66 B. Jakimovski, B. Meyer, and E. Maehle blocked and it can only move within a very limited range. In that case the other legs within the robot should also synchronize the length of their stance/swing phases. The self-synchronization that we are introducing in this paper is inspired by firefly synchronization seen in nature, i.e. when one firefly sees the flashing of another neighbor firefly it shifts its rhythm of flashing in order to get in synchrony with another firefly’s flashing. In our robot this would be translated to when one leg changes (by shortening or prolonging) its own gait, then the other neighboring legs adapt to this change by shortening or prolonging of their own gait as well. One more rule that we add to this is that the prolongation takes place only in their stance phase of the leg and the shortening of the gait takes place only in the swing phase of the leg. As result, the walking gait of each of the robot’s legs adapts to the change of walking gait of the neighboring legs, and by that the synchronization of walking gait patterns is achieved without using global coordination for the change of the gait pattern by each of the robot’s legs. The principle of functioning of this concept is shown in Fig. 5. There are two columns: “Synchro By Prolongation” and “Synchro By Shortening” describing the concept of self-synchronization when the length of the stance phase is prolonging or when the length of the swing phase is shortening. Each of the columns has a, b, c, d figure subparts, where it is shown how the synchronization of the gait patterns takes place by each of the legs. The lines at the legs show if the leg is in a stance phase – with “U” shaped line, or is in a swing phase - “∩” shape. The number of dots on the line represents the duration of the stance or swing phases. For example 3 dots will represent 3 length units of the swing and stance phase. The length units by the real robot movement can be translated into degrees of the movement of the leg. For example length of 3 units may represent 30 degrees of protraction leg movement, or similar. For describing our concept we assume that all the legs at start have the same swing and stance parameters, i.e. 3 length units. In Fig. 5 in column “Synchro By Prolongation” - subfigure (a) the leg number 3 prolongs its stance phase from 3 length units to 4 length units. In subfigure (b) that follows in the same column, using the firefly inspired synchronization the neighbor legs numbered 2 and 4 in their stance phase synchronize their gait length from 3 length units to the length of the gait of leg 3 i.e. 4 length units. In subfigure (c) in the same column, the synchronization wave spreads further to the other neighbor legs numbered 1 and 5 which also synchronize in their stance phase their length from 3 length units to 4 length units. In subfigure (d) in the same column, the leg numbered 0 in its stance phase synchronizes its length parameter from 3 length units to 4 length units. With this step, the self-synchronization of the walking gait pattern is finished and the robot continues to walk further with all legs having gait 4 length units resulting in a greater speed of the robot over the ground. In Fig. 5 in column “Synchro By Shortening” a self-synchronization of the gait pattern is shown when the legs are shortening the length of the gait within their swing phases. In subfigure (a) in the same column, the leg number 2 decreases its gait length in the swing phase from 3 length units to 2 length units. In the subfigure (b) in the same column the next cycle is represented where the other neighbor legs numbered as 1 and 3 are decreasing their gait lengths in their swing phases from 3 length units to 2 length
Firefly Flashing Synchronization as Inspiration for Self-synchronization 67 units. In subfigure (c) in the same column, the legs numbered 0 and 4 are the next ones that are shortening their gait length from 3 length units to 2 length units. At the end also the leg numbered 5 is getting in synchronization and shortens its gait length from 3 length units to 2 length units. This is represented in subsection (d) of the same column. With this ends the self-synchronization of the gait pattern by the robot’s legs and the robot continues to walk with slower pace due to the decreased length of the swing and stance phases. The synchronization time depends on the final gait length units to which the legs synchronize their swing and stance phases. And the stability of the whole synchronization process depends on how often such synchronization gets started by some external influences in some rather short time domain. Fig. 5. Self-synchronization by shortening and prolongation of walking gait patterns 5 Results from the Experiments In order to prove our biologically inspired concept for self-synchronization of robot’s legs gait parameters we have conducted several experiments on our hexapod robot
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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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4 J. Mische et al. The Real-time Vi
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6 J. Mische et al. 4.1 Instruction
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8 J. Mische et al. Additionally the
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10 J. Mische et al. % of unused pip
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12 J. Mische et al. % of cycles spe
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14 J. Mische et al. 16. Lickly, B.,
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120 P. Petoumenos et al. downsizing
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122 P. Petoumenos et al. As long as
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Exploiting Inactive Rename Slots fo
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128 M. Kayaalp et al. In a supersca
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130 M. Kayaalp et al. INSTRUCTION 1
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132 M. Kayaalp et al. time. Alterna
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134 M. Kayaalp et al. Fig. 3. Numbe
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136 M. Kayaalp et al. The results o
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Efficient Transaction Nesting in Ha
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140 Y. Liu et al. HTMs include TCC
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142 Y. Liu et al. rollback T0 begin
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144 Y. Liu et al. Processor core Pr
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146 Y. Liu et al. 5.2 Results and A
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148 Y. Liu et al. decreases, partia
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Decentralized Energy-Management to
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152 B. Becker et al. Furthermore, t
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154 B. Becker et al. An optimizing
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156 B. Becker et al. smart-home man
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158 B. Becker et al. freedom like w
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160 B. Becker et al. Power [W] 4500
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EnergySaving Cluster Roll: Power Sa
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164 M.F. Dolz et al. Themodulequeri
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166 M.F. Dolz et al. This daemon al
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168 M.F. Dolz et al. been submitted
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170 M.F. Dolz et al. On the other h
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172 M.F. Dolz et al. at the inactiv
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Effect of the Degree of Neighborhoo
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176 T. Abdullah et al. A zone based
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178 T. Abdullah et al. A consumer/p
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180 T. Abdullah et al. Messages 140
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182 T. Abdullah et al. (except when
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184 T. Abdullah et al. % Matchmakin
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188 M. Schindewolf, D. Kramer, and
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A Tightly Coupled Accelerator Infra
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224 F. Nowak and R. Buchty where A
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226 F. Nowak and R. Buchty Fig. 3.
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228 F. Nowak and R. Buchty Table 2.
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230 F. Nowak and R. Buchty Table 4.
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232 F. Nowak and R. Buchty 5.3 Comp
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Optimizing Stencil Application on M
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236 F. Xudong et al. compared to th
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238 F. Xudong et al. stencil comput
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242 F. Xudong et al. Speedup 14 12
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244 F. Xudong et al. 5 Related Work
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Abdullah, Tariq 174 Alima, Luc Onan
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