Petri Net Modeling and Simulation of Walking Behaviour for Design of a Bioinspired Robot Dog

Zuhal Erden, Macit Araz

2016

Abstract

Research in behavior-based design faces many challenges regarding the aids in conceptual design of biorobots, representation of a biological system’s behavior in a well formed modeling tool and therefore providing systematic transformation of this behavior into robot design. This paper reports a research that focuses on the development of a Petri Net model to represent a biological system’s behavior. The model is based on real time data collected from an experiment in which a dog is walking on a treadmill with a speed of 1km/h. The model has the ability of simulating the real time rhythm of dog's walking behavior utilizing colors and numbers as well as the step-by-step simulation. The aim is to observe the behavior of a walking dog in time domain as an early stage of conceptual design of a bioinspired robot dog. Main challenge is to develop a methodology to guide designer towards more creative designs based on bioinspired design ideas. The presented work is an early attempt to initiate a systematic approach towards the stated goal.

References

  1. Bar-Cohen, Y., 2006. Biomimetics: Biologically Inspired Technologies. Taylor and Francis, USA.
  2. Erden, Z., 2010. Representation of the Operational Behavior of an Educational Robot at Conceptual Design Using Petri Nets. In Proceedings of ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2010), pp. 855- 862. Istanbul, Turkey, 12-14 July 2010.
  3. Erden, Z., 2011. State-Based Conceptual Design in Mechatronics via Petri Nets. Journal of Control Engineering and Applied Informatics, 13(2), pp. 70-75.
  4. Fleischer, J. G., Troxell, W. O., 1999. Biomimicry as a tool in the design of robotic systems. In Proceedings of the 3rd International Conference on Engineering Design and Automation. Integrated Technology Systems, Prospect, KY.
  5. Griffin,T.M., Main,R.P., Farley,C.T., 2004. Biomechanics of quadrupedal walking: how do four-legged animals achieve inverted pendulum-like movements? The Journal of Experimental Biology, 207, pp. 3545-3558.
  6. Guangtao, Z., Haojun, Z., Jinsong, W., Tiemin, L., 2003. Petri-net-based coordination motion control for legged robot. In Proceedings of IEEE International Conference on Systems, Man and Cybernetics, Washington, D.C. USA. 5-8 October 2003.
  7. Helms, M., Vattam, S. S., Goel, A. K., 2009. Biologically inspired design: process and products. Design Studies, 30(5) pp. 606-622.
  8. Horvath, I., 2004. A Treatise on Order in Engineering Design Research. Research in Engineering Design. 15, pp.155-181.
  9. Kobayashi, K., Nakatani, A., Takahashi, H., Ushio, T., 2002. Motion planning for humanoid robotsusing timed Petri net and modular state set. In Proceedings of IEEE International Conference on Systems, Man and Cybernetics, Hammamet, Tunusia. 6-9 October 2002.
  10. Konez-Eroglu, A, Erden, Z. and Erden, A., 2011a. Bioinspired conceptual design (BICD) approach for hybrid bioinspired robot design process. In Proceedings of IEEE International Conference on Mechatronics (ICM 2011), Istanbul, Turkey. 13-15 April 2011.
  11. Konez-Eroglu, A., Erden, Z., Erden, A., 2011b. Biological System Analysis in Bioinspired Conceptual Design (BICD) for Bioinspired Robots. Journal of Control Engineering and Applied Informatics, 13(2), pp.81-86.
  12. Mak, T. W., Shu, L. H., 2004. Abstraction of Biological Analogies for Design. CIRP Annals-Manufacturing Technology, 53(1), pp. 117-120.
  13. Meyer, J. A., Guillot, A., 2008. Handbook of Robotics Chapter 60: biologically inspired robots, part G: human-centered and life-like robotics. Springer.
  14. Murata, T., 1989. Petri Nets: Properties, Analysis and Applications. Proceedings of the IEEE, 77(4), pp. 541- 580.
  15. Nelson, B., Wilson, J., Yen, J., 2009. A Study of Biologically-Inspired Design as a Context for Enhancing Student Innovation. In Proceedings of the 39th ASEE/IEEE Frontiers in Education Conference, San Antonio, TX, pp.1-5.
  16. Peterson, J. L., 1977. Petri Nets. ACM Computing Surveys, 9, pp.223-252.
  17. Pongas, D., Mistry, M., Schaal, S., 2007. A robust quadruped walking gait for traversing rough terrain. In Proceedings of IEEE Int. Conference on Robotics and Automation, Rome. Italy. 10-14 April 2007.
  18. Serhan, H., Nasr, C., Henaff, P., Ouezdou, F., 2008. A New Control Strategy for ROBIAN Biped Robot Inspired from Human Walking. In Proceedings of IEEE/RSJ Int.Conference on Intelligent Robots and Systems, Nice, France. 22-26 September 2008.
  19. Shen, Q., Gausemeier, J., Bauch, J., Radkowski, R., 2005. A Cooperative Virtual Prototyping System for Mechatronic Solution Elements Based Assembly. Advanced Engineering Informatics, 19, pp.169-177.
  20. Tsujimoto, K., Miura, S., Tsumaya, A., Nagai, Y., Chakrabarti, A., Taura, T., 2008. A Method for Creative Behavioral Design Based on Analogy and Blending from Natural Things. In Proceedings of. ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2008, USA.
  21. Vladareanu, K.,Tont,G., Yu, H., and Bucur, D.A., 2011. The Petri Nets and Markov Chains Approach for the Walking Robots Dynamical Stability Control. In Proceedings of 2011 International Conference on Advanced Mechatronic Systems, pp. 228-233. Zhengzhou, China,11-13 August 2011.
  22. Webb, B., Consi, T. R., 2001. Biorobotics: Methods and Applications. The MIT Press, Canada.
  23. Wilson, J. O., 2008. A Systematic Approach to BioInspired Conceptual Design. PhD. Thesis, Georgia Institute of Technology, Atlanta, GA.
Download


Paper Citation


in Harvard Style

Erden Z. and Araz M. (2016). Petri Net Modeling and Simulation of Walking Behaviour for Design of a Bioinspired Robot Dog . In Proceedings of the 6th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-199-1, pages 217-224. DOI: 10.5220/0005972702170224


in Bibtex Style

@conference{simultech16,
author={Zuhal Erden and Macit Araz},
title={Petri Net Modeling and Simulation of Walking Behaviour for Design of a Bioinspired Robot Dog},
booktitle={Proceedings of the 6th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2016},
pages={217-224},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005972702170224},
isbn={978-989-758-199-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Petri Net Modeling and Simulation of Walking Behaviour for Design of a Bioinspired Robot Dog
SN - 978-989-758-199-1
AU - Erden Z.
AU - Araz M.
PY - 2016
SP - 217
EP - 224
DO - 10.5220/0005972702170224