Multi-scopic neuro-cognitive adaptation for legged locomotion robots

Dynamic locomotion is realized through a simultaneous integration of adaptability and optimality. This article proposes a neuro-cognitive model for a multi-legged locomotion robot that can seamlessly integrate multi-modal sensing, ecological perception, and cognition through the coordination of interoceptive and exteroceptive sensory information. Importantly, cognitive models can be discussed as micro-, meso-, and macro-scopic; these concepts correspond to sensing, perception, and cognition; and short-, medium-, and long-term adaptation (in terms of ecological psychology). The proposed neuro-cognitive model integrates these intelligent functions from a multi-scopic point of view. Macroscopic-level presents an attention mechanism with short-term adaptive locomotion control conducted by a lower-level sensorimotor coordination-based model. Macrosopic-level serves environmental cognitive map featuring higher-level behavior planning. Mesoscopic level shows integration between the microscopic and macroscopic approaches, enabling the model to reconstruct a map and conduct localization using bottom-up facial environmental information and top-down map information, generating intention towards the ultimate goal at the macroscopic level. The experiments demonstrated that adaptability and optimality of multi-legged locomotion could be achieved using the proposed multi-scale neuro-cognitive model, from short to long-term adaptation, with efficient computational usage. Future research directions can be implemented not only in robotics contexts but also in the context of interdisciplinary studies incorporating cognitive science and ecological psychology.

Bacterial Evolutionary Algorithm-Trained Interpolative Fuzzy System for Mobile Robot Navigation

This paper describes the process of building a transport logic that enables a mobile robot to travel fast enough to reach a desired destination in time, but safe enough to prevent damage. This transport logic is based on fuzzy logic inference using fuzzy rule interpolation, which allows for accurate inferences even when using a smaller rule base. The construction of the fuzzy rule base can be conducted experimentally, but there are also solutions for automatic construction. One of them is the bacterial evolutionary algorithm, which is used in this application. This algorithm is based on the theory of bacterial evolution and is very well-suited to solving optimization problems. Successful transport is also facilitated by proper path planning, and for this purpose, the so-called neuro-activity-based path planning has been used. This path-planning algorithm is combined with interpolative fuzzy logic-based speed control of the mobile robot. By applying the described methods, an intelligent transport logic can be constructed. These methods are tested in a simulated environment and several results are investigated.

AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired Capabilities

There are currently many quadruped robots suited to a wide range of applications, but traversing some terrains, such as vertical ladders, remains an open challenge. There is still a need to develop adaptive robots that can walk and climb efficiently. This paper presents an adaptive quadruped robot that, by mimicking feline structure, supports several novel capabilities. We design a novel paw structure and several point-cloud-based sensory structures incorporating a quad-composite time-of-flight sensor and a dual-laser range finder. The proposed robot is equipped with physical and cognitive capabilities which include: 1) a dynamic-density topological map building with attention model, 2) affordance perception using the topological map, and 3) a neural-based locomotion model. The novel capabilities show strong integration between locomotion and internal–external sensory information, enabling short-term adaptations in response to environmental changes. The robot performed well in several situations: walking on natural terrain, walking with a leg malfunction, avoiding a sudden obstacle, climbing a vertical ladder. Further, we consider current problems and future development.