Biorobotics Laboratory BioRob

Chaotic systems for escape and exploration in robots

Paper

Goals

Study the applicability of Chaos to control robots.

Inspired by the work of Y. Kuniyoshi, my project will try to add theoretical insight into the synchronization process of the chaotic elements.

A complete benchmark will be defined and tested to answer this simple question : is chaos more useful than simple random?

Resources

You'll find here my report and additional files.

semester_report.pdf - Report [12.01.07]
specifications.pdf - Specifications of the project [04.10.07]
planning.pdf - Planning [04.10.07]
rossler_lc_bad.mpeg Video of the movement of the robot, with non optimal parameters. (speed corrected)
rossler_lc_optimized.mpeg Video of the movement of the robot with optimized parameters. (speed corrected)
chaotic_controller.mpeg Video of the movement of the robot in Chaotic mode
rossler_lc_uneven_diff1.mpeg Terrain of difficulty 1, with Limit Cycle controller
rossler_lc_uneven_diff3.mpeg Terrain of difficulty 3, Limit Cycle controller
rossler_lc_uneven_diff5.mpeg Terrain of difficulty 5, Limit Cycle controller
rossler_lc_uneven_diff10.mpeg Terrain of difficulty 10, Limit Cycle controller
chaotic_ff_fft.pdf
chaotic_ff_ts.pdf
touch_legs_lcopt-crop.pdf
paper_chaotic_controller.mp4
matthey08.pdf
matthey08.pdf