Kraftbasierte dreidimensionale Wegintegration bei Laufrobotern mithilfe von künstlichen neuronalen Netzen.
- Desert ants Cataglyphis spec. monitor inclination and distance covered through force-based sensing in their legs. To transfer this mechanism to legged robots, artificial neural networks are used to determine the inclination angle of an experimental ramp from the motor data of the legs of a commercial hexapod walking robot. It is possible to determine the inclination angle of the ramp based on the motor data of the robot legs read out during a run. The result is independent of the weight and orientation of the robot on the ramp and hence robust enough to serve as an independent odometer.
Author: | Alina Stock, Barbara Schlögl, Tobias Seidl |
---|---|
URN: | urn:nbn:de:hbz:1010-opus4-44512 |
ISBN: | 978-3-00-076671-8 |
Parent Title (German): | "Bionik: Patente aus der Natur" 10. Bremer Bionik Kongress 2023 – Tagungsbeiträge |
Publisher: | Gesellschaft für Technische Biologie und Bionik GTBB e.V. |
Place of publication: | Bremen |
Editor: | Antonia B. Kesel, Birte S. Löffler |
Document Type: | Conference Proceeding |
Language: | German |
Date of Publication (online): | 2024/01/22 |
Date of first Publication: | 2023/10/02 |
Publishing Institution: | Westfälische Hochschule Gelsenkirchen Bocholt Recklinghausen |
Release Date: | 2024/01/29 |
Tag: | bionik robotik ameisen |
Pagenumber: | 7 |
First Page: | 112 |
Last Page: | 118 |
Departments / faculties: | Fachbereiche / Maschinenbau Bocholt |
Dewey Decimal Classification: | Technik, Medizin, angewandte Wissenschaften / Ingenieurwissenschaften / Ingenieurwissenschaften und zugeordnete Tätigkeiten |
Licence (German): | Es gilt das Urheberrechtsgesetz |