Biologically-inspired multi-segmented robot

A multi-segmented robot comprising:

• a plurality of anatomical segments;
• a plurality of joints, wherein each of said plurality of joints couples two adjacent anatomical segments such that the two adjacent anatomical segments move relative to each other as a function of an amount of rotation associated with the joint;
• a plurality of muscle-like actuators, each comprising a first end fixed to a position along one of said plurality of anatomical segments and a second end fixed to a position along a second one of said plurality of anatomical segments, wherein activation of a muscle-like actuator causes torque to be applied to at least one of said plurality of joints thereby causing two or more of said anatomical segments to move relative to each other;
• and
• a controller, coupled to each of said plurality of muscle-like actuators, comprising means for defining each of a plurality of states, wherein each of the plurality of states corresponds with a different functional grouping of muscle-like actuators, and wherein for a given state, the muscle-like actuators associated with the corresponding functional grouping are defined as being activated and the muscle-like actuators that are not associated with the functional grouping are defined as being deactived.

A biologically-inspired, multi-segmented robot comprising:

• a plurality of anatomical segments;
• a plurality of joints, wherein each of said plurality of joints couples two adjacent anatomical segments;
• a plurality of muscle-like actuators, wherein each of said muscle-like actuators includes a first and a second end, wherein the first end of each muscle-like actuator is attached to one of said plurality of anatomical segments, wherein the second end of each muscle-like actuator is attached to a second one of said plurality of anatomical segments, and wherein said plurality of muscle-like actuators and joints are configured so as to provide mechanical feedback for said muscle-like actuators;
• a controller for activating one or more functional groupings of said muscle-like actuators to achieve a desired mobility event;
• and
• one or more sensors coupled to said controller and said anatomical segments, said sensors providing feedback data to said controller, wherein feedback data defines a position associated with one or more of said anatomical segments.

A method for controlling mobility in a biologically-inspired, multi-joint, multi-segmented robot comprising the steps of:

• activating a first functional grouping of muscle-like actuators, which causes a repositioning of one or more of the multiple segments associated with said robot, so as to achieve a first mobility event;
• measuring a status of said robot;
• @determining whether the first mobility event has been achieved based on the results of said step of measuring the status of said robot;
• and
• if it is determined that said first mobility event has been achieved based on the results of said step of measuring the status of said robot, activating a second functional muscle grouping of muscle-like actuators, which cause a further repositioning of one or more of the multiple segments associated with said robot, so as to achieve a second mobility event.