Abstract

Abstract

Abstract

Abstract
Biological inspired robotics is an area experiencing an increasing research and development. In spite of all the recent engineering advances, robots still lack capabilities with respect to agility, adaptability, intelligent sensing, fault-tolerance, stealth, and utilization of in-situ resources for power when compared to biological organisms. The general premise of bio-inspired engineering is to distill the principles incorporated in successful, nature-tested mechanisms of selected features and functional behaviors that can be captured through biomechatronic designs and minimalist operation principles from nature success strategies. Based on these concepts, robotics researchers are interested in gaining an understanding of the sensory aspects that would be required to mimic nature design with engineering solutions. In this paper are analysed developments in this area and the research aspects that have to be further studied are discussed.

Abstract
This paper studies the dynamics of foot-ground interaction and the performance of integer and fractional order controllers in multi-legged locomotion systems. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, to compare the system performance, we formulate six performance measures of the walking robot namely, the mean absolute power, the mean power dispersion, the mean power lost in the joint actuators, the mean force of the interface body-legs per walking distance and the mean square error of the hip and foot trajectories. A set of model-based experiments reveals the influence of the different controller implementations in the proposed indices.

Abstract
This paper presents the development of an autonomous mobile robot controlled by a fuzzy logic controller (FLC). The robot is capable of performing several behavior-based tasks, such as to follow walls and avoid obstacles, and can be used for the embodiment of different behaviors. Experimental results are given to assess the performance of the FLC and to validate the adopted design options for the construction and control of the robot.