A Differential Steering Mechanism for Directional Adaptation and Self-Organized Locomotion under Decentralized Control in Legged Robots

This repository contains the simulation environment and controller implementation for the paper:

A Differential Steering Mechanism for Directional Adaptation and Self-Organized Locomotion under Decentralized Control in Legged Robots

The project presents a decentralized locomotion control framework with a Differential Adaptive Steering Control (DAST) for directional adaptation in a stick insect-like robot.

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Overview

This repository provides:

• ROS1-based controller implementation
• CoppeliaSim simulation environment
• Simulated stick insect-like robot model
• DAST controller package
• Self-organized locomotion framework

The simulation was developed and tested using:

• Ubuntu 20.04
• ROS1
• CoppeliaSim

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Main Files

For a quick understanding of the project, please see the following files:

Controller Implementation

• duallearner.cpp
  Main implementation of the DAST controller and adaptive steering mechanism.

Robot Control Script

• medaextra_optimize.lua
  Lua script used for robot control and communication within CoppeliaSim.

Simulation Scene

• medaextra_ver1.ttt
  Main CoppeliaSim scene file containing the simulated stick insect-like robot and experimental environment.

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