Topological based Environmental Reconstruction for Efficient Multi-Level Control of Robot Locomotion

Azhar Aulia Saputra, Chin Wei Hong, Mohamad Yani, Fernando Ardilla, Adnan Rachmat Anom Besari, Yuichiro Toda, Naoyuki Kubota

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


Multi-legged locomotion is generated from multilevel control integration, from lower to higher. It is still become challenging for a robotic developer. This research builds the loco-motion model that integrates embodiment, perception, cognition, and knowledge building. The proposed model considers internal sensory information and external sensory information. It involves a multi-level control to solve the complexity of multi-modal system integration, a neuro-science and ecological psychology approach to developing the proposed system architecture, and a topological approach to enable knowledge building and external sensory processing. This paper focuses on the environmental reconstruction module based on topological based approach. The Topological based approach represents the data flow from sensing to knowledge building. We use dynamic density growing neural gas algorithm as the based of reconstruction module. It implies the dynamic granularity of topological structure of reconstructed environment. The module presents continuous real-time environmental reconstruction building from topological information generated by dynamic density growing neural gas. The reconstructed topological map composes as 3-D map nodes position and normal vector of the node, and their edges. We conducted several experiments showing efficient locomotion behavior could be realized using the proposed model for validating our proposed model.

Original languageEnglish
Title of host publicationIES 2022 - 2022 International Electronics Symposium
Subtitle of host publicationEnergy Development for Climate Change Solution and Clean Energy Transition, Proceeding
EditorsAndhik Ampuh Yunanto, Yanuar Risah Prayogi, Putu Agus Mahadi Putra, Hendhi Hermawan, Nailussa'ada Nailussa'ada, Maretha Ruswiansari, Mohamad Ridwan, Farida Gamar, Afifah Dwi Ramadhani, Weny Mistarika Rahmawati, Muhammad Rizani Rusli
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781665489713
Publication statusPublished - 2022
Event24th International Electronics Symposium, IES 2022 - Surabaya, Indonesia
Duration: Aug 9 2022Aug 11 2022

Publication series

NameIES 2022 - 2022 International Electronics Symposium: Energy Development for Climate Change Solution and Clean Energy Transition, Proceeding


Conference24th International Electronics Symposium, IES 2022


  • Environmental Reconstruction
  • Multi-level locomotion control
  • Topological based approach

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Renewable Energy, Sustainability and the Environment
  • Electrical and Electronic Engineering
  • Global and Planetary Change
  • Control and Optimization


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