Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots

Title Page
Abstract
Contents
Introduction
Biologically Inspired Computing and Self-x Properties
	Bionics
	Organic Computing
	Autonomic Computing
	Self-x Properties
	Emergence
Joint Leg Walking and Hybrid Robot Demonstrators
	Introduction
	Hexapod Robots
		State of the Art – Hexapod Robots
		Hexapod Robot Demonstrator – OSCAR (Organic Self Configuring and Adapting Robot)
	Humanoid Robots
	State of the Art Humanoid Robots
	Humanoid Robot Demonstrator - S2-HuRo (Self Stabilizing Humanoid Robot)
Biologically Inspired Robot Control Architecture
	Overview on “Standard” Types of Robot Control Architectures
		Reactive and Subsumption and Behavior Based Control Architecture
		Deliberative Control Architecture
		Hybrid Control Architecture
	Overview on Autonomic Control Architecture
	ORCA (Organic Robot Control Architecture)
	Distributed ORCA Architecture for Hexapod Robot Control
	Cell Differentiation as Biological Inspiration for Enhanced ORCA
		Overview of a Biological Concept – Cell Differentiation
		The Enhanced “Stem” Type ORCA Architecture
Biologically Inspired Approaches for Locomotion of a Hexapod Robot OSCAR
	Characteristics of Locomotion Seen by Insects and Animals - Applied to Robotics Domain
	Central Pattern Generators (CPG)
		Common Observed Gaits by Insects
	Experiments with Self-organizing Emergent Robot Walking Gait with Distributed Pressure on Robot’s Feet
	Firefly Inspired Synchronization of a Robot’s Walking Gait
		Firefly Coupled Oscillators Principle
		Concept for Robot Walking Gait Self-synchronization by Using Firefly Synchronization
	Implementation of Firefly Inspired Self-synchronization into the Robot Control Architecture
	Experiments Done with Firefly Inspired Self-synchronization and Results from Experiments
		Experiment about Self-synchronization by Prolongation of the Robot’s Swing and Stance Phases
		Experiment about Self-synchronization by Shortening of the Robot’s Swing and Stance Phases
		Experiment about Self-synchronization by Combined Prolongation and Shortening of the Robot’s Swing and Stance Phases
		Discussion on Future Possible Improvements of Firefly Inspired Self-synchronization Approach
		Summary about the Firefly Inspired Self-synchronization Approach
Biologically Inspired Approach for Optimizing the Walking Gait of a Humanoid Robot
	Approaches for Walking Gait Generation by Humanoid Robots
	Symbiosis as a Biologically Inspired Approach for Self-stabilization of Humanoid Robot Walking Gait
	SelSta Approach in Detail
		S2-HuRo Humanoid Robot Platform and Sensors Used
		Control of the Robot S2-HuRo
		Main Parts of SelSta Approach – SymbScore Value and Genetic Algorithm
		Fuzzy Logic Computation of SymbScore Value
		Genetic Algorithm Details for the SelSta Approach
		Preparation for Experiments
	Experiments Done with the SelSta Approach
		Experiments on a Soft Green Carpet
		Experiments on a Medium Soft Orange Carpet
		Experiments on a Hard Green Carpet
		Experiments on a Hard Linoleum Surface
	Summary for Experiments Done with the SelSta Approach
Biologically Inspired Approaches for Anomaly Detection within a Robotic System
	Overview on Approaches for Fault / Anomaly Detection by Robotic Systems
	Overview of Artificial Immune System (AIS) Concept
	Artificial Immune System Based - Robot Anomaly Detection Engine (RADE) Approach
		Core Functionality of RADE Approach
	Experiments Done with AIS Inspired RADE and Results from Experiments
		Test-Bed Setup for RADE Approach
		Self and Non-self Rule Sets by RADE
		Results from Experiments Done with the RADE Approach
		3D representation of Run-Time Dynamics by RADE Anomaly Detection Surface
		Summary about AIS Based Anomaly Detection Approach - RADE
Approach for Robot Self-reconfiguration after Anomaly Detection within a Walking Robot System Based on Biological Inspiration - Swarm Intelligence
	Overview on Swarm Intelligence – Flocking Behavior and Boids
	S.I.R.R. – Swarm Intelligence Based Approach for Robot Reconfiguration
		Simulation of S.I.R.R Based Hexapod Robot Reconfiguration
	Results from Robot Reconfiguration Experiments Done with S.I.R.R. Approach on the Hexapod Robot OSCAR-2
	Results from Real Robot Reconfiguration Experiments Done with S.I.R.R. Approach and Leg Amputations on the Robot OSCAR-X
		Ground Contacts of Robot Legs for Normal Walking and for Walking with Leg Amputations and Robot Self-reconfiguration
		Tracking of the Robot’s Heading While the Robot Is Performing Self-reconfiguration with Leg Amputations
	Summary for the S.I.R.R. - Biologically Inspired Robot Reconfiguration Approach
Conclusion and Outlook
References
A Appendix
List of Figures
Keywords
Glossary