Adaptive control strategies for interlimb coordination in legged robots: A review

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

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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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.

Original languageEnglish
Article number00039
JournalFrontiers in Neurorobotics
Number of pages21
Publication statusPublished - 2017


  • Adaptation
  • Central pattern generator
  • Interlimb coordination
  • Legged robot
  • Sensorimotor interaction

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