Science Robotics

Supplementary Materials

The PDF file includes:

  • Text S1. The celestial compass
  • Text S2. The robot’s odometer
  • Text S3. The PI process
  • Fig. S1. AntBot, an ant-inspired hexapod robot.
  • Fig. S2. Exploded computer-aided design view of the UV-polarized light compass.
  • Fig. S3. Characterization of the angular aperture of the celestial compass.
  • Fig. S4. Noise measured in each POL-unit in the absence of UV-polarized light.
  • Fig. S5. Effects of variable sky on the output of the celestial compass.
  • Fig. S6. Characterization of the celestial compass.
  • Fig. S7. Solar-based solution to the heading angle ambiguity.
  • Fig. S8. Characterization of the M2APix OF sensor.
  • Fig. S9. Photograph of the experimental setup.
  • Fig. S10. Photographs of the textured panels.
  • Fig. S11. Graph of the homing path.
  • Fig. S12. AntBot’s walking drift analysis.
  • Table S1. Walking parameters of the hexapod robot AntBot.
  • Table S2. Empiric gain β used in the outdoor experiments.
  • Table S3. Results obtained in the PI-ST mode.
  • Table S4. Results obtained in the PI-OF-ST mode.
  • Table S5. Results obtained in the PI-ST-FUSE mode.
  • Table S6. Results obtained in the PI-POL-ST mode.
  • Table S7. Results obtained in the PI-Full mode.
  • Legends for movies S1 to S5

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). AntBot’s homing performances in the PI-ST mode.
  • Movie S2 (.mp4 format). AntBot’s homing performances in the PI-OF-ST mode.
  • Movie S3 (.mp4 format). AntBot’s homing performances in the PI-ST-FUSE mode.
  • Movie S4 (.mp4 format). AntBot’s homing performances in the PI-POL-ST mode.
  • Movie S5 (.mp4 format). AntBot’s homing performances in the PI-Full mode.

Files in this Data Supplement: