Design and Development of a Bionic Robot Gait Control Ontology

Le résumé fourni par la source

Bionic robots often operate in dynamic environments, where maintaining gait stability is essential. However, most existing gait control systems are typically designed independently for specific platforms, lacking a unified framework to represent and reuse about gait knowledge. This lack of integration limits knowledge reuse and constrains high level decision-making.To address this challenge, an ontology for bionic robot gait control is developed, formalizing core concepts such as robot structures, gait parameters, sensors, kinematic chains, and environmental factors. The ontology construction follows the Methontology methodology and is implemented in OWL with SWRL rules to support semantic reasoning for closed-loop control. Competency questions guide the ontology design, including how to retrieve dynamic models based on gait parameters and how to identify stability-related factors. Reasoning tools such as description logic and SPARQL queries are used for validation. This research contributes (1) an ontology specialized for bionic robot gait control, (2) an integration of knowledge representation with adaptive reasoning, and (3) a modular structure that supports interoperability and future extension.

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