Gait is an important research content of hexapod robots. To better improve the motion performance robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies straight a small electric robot with low cost, which can be used in daily life. The strategy “increasing duty factor” put forward planning, aims to reduce foot sliding and attitude fl...

The static stability of hexapods motivates their design for tasks in which stable locomotion is required, such as navigation across complex environments. This task high interest due to the possibility replacing human beings exploration, surveillance and rescue missions. For this application, control system must adapt actuation limbs according surroundings ensure that hexapod does not tumble dur...

When viewed as a subset of R, the shape or geometry of the work envelope varies from robot to robot. However, the work envelope can also be viewed within the framework of joint space R. In joint space, the work envelope is typically characterised by bounds on linear combinations of joint variables. The constraints of this nature generate a convex polyhedron in R named the joint-space work envel...

Punctuated anytime learning is presented as the solution for two problems: the use of anytime learning with an off-line learning module and the linking of the actual robot to its simulation during evolutionary robotics. Two methods of punctuated anytime learning, fitness biasing and the co-evolution of model parameters, are described and compared using the common task of gait generation for a h...

The real number of variations is lesser than expected one. There are no blue-eyed Drosophila, no viviparous birds or turtles, no hexapod mammals, etc. Such observations provoke non-Darwinian evolutionary concepts. Darwin tried rather unsuccessfully to solve the problem of the contradictions between his model of random variability and the existence of constraints. He tried to hide this complicat...

Formal models of animal sensorimotor behavior can provide e ective methods for generating robotic intelligence. In this paper we describe how schema-theoretic models of the praying mantis are implemented on a hexapod robot equipped with a real-time color vision system. The model upon which the implementation is based was developed by ethologists studying mantids. This implementation incorporate...