1 Introduction
This robot looks like a giant stick insect. In fact, the design of Hector (HExapod CognitiveauTonomously Operating Robot) is inspired by the stick insect, which has highly flexible joints and an ultralight exoskeleton. This six-legged actuator ensures its flexible movement.
2 Introduction
Hector carefully navigated the numerous obstacles with such elegance that few other robots could match it. Led by Professor Axel Schneider, the "Bionic Mechatronics" research group at Bielefeld University developed this six-legged robot based on the movement characteristics of stick insects. Designed to be 20 times the size of the original insect, the robot is approximately 90cm long and truly resembles a giant stick insect. The research aims to better understand the movement characteristics of this insect and apply its basic coordination mechanisms to technological systems. Furthermore, the research group is dedicated to further expanding the research on the fundamental design principles of elastically driven robotic systems. The robot's ultralight exoskeleton is made of carbon fiber reinforced plastic (CFRP). All drive components and connecting elements in its legs are made of aluminum alloy and were designed and manufactured entirely by Bielefeld University. Weighing 12kg, the robot is unique in that it is equipped with multiple sensors and operates based on a biodispersive control mechanism. Using self-designed actuators and contact sensors, it can flexibly adjust itself according to ground conditions during operation. Currently, Hector can walk on slightly undulating surfaces and can easily cross smaller obstacles such as steps.
3. Each leg is equipped with three Mackor motors.
Each leg of the robot has three joints, requiring the simultaneous control of 18 joints. To achieve this, each leg is equipped with three Mackornet EC45 flat motors. These motors, with a drive power of 50W, are a special specification without side wiring boards. The 18 leg joints are controlled via a control algorithm inspired by biological movement principles. For this purpose, drive electronics equipped with corresponding control devices are embedded in the actuator. Furthermore, a self-developed elastomer connector is directly integrated into the actuator, making it more flexible. For the research team, the motors used had to be small, high-torque, and lightweight. "In addition, the motor length had to be as short as possible, because, among other factors, the overall length of the actuator would limit the movement space of the robot's legs. Therefore, we chose the 50W EC45flat motor," explained Jan Paskarbeit, a researcher on the research team and the designer and manufacturer of Hector.
4 Simple intellectual behaviors
While Hector is far less intelligent than insects, it can process complex sensor data to coordinate leg movements. It can walk independently and react to obstacles. “Undeniably, insects possess a certain level of simple intelligence. In this sense, we can also say that Hector possesses a kind of simple intelligence. A key characteristic of intelligent behavior is the ability to perform short-term pre-planning. Currently, we are conducting system testing on a ‘more advanced’ robot control system, which will give the robot simple pre-planning capabilities, making it more intelligent in this sense,” said Paskarbeit. By 2017, this locomotion robot will gain more functions through a special collaborative project at the Bielefeld University Centre for Cognitive Interaction Technologies.
