Adaptive control strategies for interlimb coordination in legged robots

A review

Shinya Aoi*, Poramate Manoonpong, Yuichi Ambe, Fumitoshi Matsuno, Florentin Wörgötter

*Kontaktforfatter for dette arbejde

Publikation: Bidrag til tidsskriftReviewForskningpeer review

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Resumé

Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptationmechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.

OriginalsprogEngelsk
Artikelnummer00039
TidsskriftFrontiers in Neurorobotics
Vol/bind11
Antal sider21
ISSN1662-5218
DOI
StatusUdgivet - 2017

Fingeraftryk

Robots
Biocontrol
Musculoskeletal system
Control systems
Hysteresis
Animals

Citer dette

Aoi, Shinya ; Manoonpong, Poramate ; Ambe, Yuichi ; Matsuno, Fumitoshi ; Wörgötter, Florentin. / Adaptive control strategies for interlimb coordination in legged robots : A review. I: Frontiers in Neurorobotics. 2017 ; Bind 11.
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title = "Adaptive control strategies for interlimb coordination in legged robots: A review",
abstract = "Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptationmechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.",
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author = "Shinya Aoi and Poramate Manoonpong and Yuichi Ambe and Fumitoshi Matsuno and Florentin W{\"o}rg{\"o}tter",
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Adaptive control strategies for interlimb coordination in legged robots : A review. / Aoi, Shinya; Manoonpong, Poramate; Ambe, Yuichi; Matsuno, Fumitoshi; Wörgötter, Florentin.

I: Frontiers in Neurorobotics, Bind 11, 00039, 2017.

Publikation: Bidrag til tidsskriftReviewForskningpeer review

TY - JOUR

T1 - Adaptive control strategies for interlimb coordination in legged robots

T2 - A review

AU - Aoi, Shinya

AU - Manoonpong, Poramate

AU - Ambe, Yuichi

AU - Matsuno, Fumitoshi

AU - Wörgötter, Florentin

PY - 2017

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AB - Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptationmechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.

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KW - Central pattern generator

KW - Interlimb coordination

KW - Legged robot

KW - Sensorimotor interaction

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