ゴキブリの神経構造に着想を得た六脚ロボットのリズミカルな歩行制御

原文アブストラクト

Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod. Our locomotion model draws inspiration from the structure of a cockroach, with its fairly simple central nervous system, and results in our model being computationally inexpensive with simpler control mechanisms. We consider the limb morphology for a hexapod, the corresponding central pattern generators for its limbs, and the inter-limb coordination required to generate appropriate patterns in its limbs. We also designed two experiments to validate our locomotion model. Our first experiment models the predator-prey dynamics between a cockroach and its predator. Our second experiment makes use of a reinforcement learning-based algorithm, putting forward a realization of our locomotion model. These experiments suggest that this model will help realize practical hexapod robot designs.