Decision making process of hexapods in a model of complex terrains

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21260%2F16%3A00302643" target="_blank" >RIV/68407700:21260/16:00302643 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21460/16:00302643

Result on the web

<a href="http://dx.doi.org/10.12700/APH.13.4.2016.4.9" target="_blank" >http://dx.doi.org/10.12700/APH.13.4.2016.4.9</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.12700/APH.13.4.2016.4.9" target="_blank" >10.12700/APH.13.4.2016.4.9</a>

Result language

angličtina

Original language name

Decision making process of hexapods in a model of complex terrains

Original language description

The paper describes behavior of a cognitive control system model, which enables a hexapod to walk in an obstacle-free terrain as well as in a complex terrain including obstacles. This cognitive system model is based on reinforcement learning and assumes the concept of static-stable walking. The decision making process was tested using three different types of terrain models. The results of decision making process trigger actions in the form of changes in the state of six-legged body to maintain stable walking forward. New method have been developed to describe a group of obstacles of different sizes in a complex terrain. The results suggest a relationship between the predefined number of actions and the maximum total walked distance in terrain. In case of the terrain without obstacles, the optimized actions are the same. Thus, the way of moving the trunk and legs in the terrain is always the same and cyclic. The results also indicate that the maximum total walked distance is reduced due to a growing number of obstacles to overcome. The maximum total walked distance is reduced more significantly in the case of overcoming a greater number of small obstacles compared the case of smaller number of large obstacles. The way of moving the trunk and legs in the terrain with large obstacles is acyclic. The methods proposed for the study of the cognitive system and the sensory system of a hexapod, for the simulation of six-legged walking, as well as for the characterization of terrain with obstacles may find application in bioengineering, robotics, military system and other fields. 2016, Budapest Tech Polytechnical Institution.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

—

Project

—

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2016

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Acta Polytechnica Hungarrica

ISSN

1785-8860

e-ISSN

—

Volume of the periodical

13

Issue of the periodical within the volume

4

Country of publishing house

HU - HUNGARY

Number of pages

17

Pages from-to

141-157

UT code for WoS article

000384766900009

EID of the result in the Scopus database

2-s2.0-84984861599