Adaptive neural control for self-organized locomotion and obstacle negotiation of quadruped robots

T. Sun, D. Shao, Z. Dai, P. Manoonpong

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Many quadruped robots have been developed to imitate their biological counterparts, several of which show excellent performance. However, the biological neural control mechanisms responsible for self-organized adaptive quadruped locomotion remain elusive. By drawing lessons from biological findings and using an artificial neural approach, we simulated a mammal-like quadruped robot and used it as our simulation platform to investigate and develop neural control mechanisms. In this study, we proposed an adaptive neural control network that can autonomously generate self-organized emergent locomotion with adaptability for the robot. The control network consists of three main components: Decoupled neural central pattern generator circuits (one for each leg), sensory feedback adaptation with dual-rate learning, and multiple neural reflex mechanisms. Simulation results show that the robot can perform quadruped-like gaits in a self-organized manner and adapt its gait to negotiate an obstacle. In addition, this work also suggests that the tight combination of the body-environment interaction and adaptive neural control, guided by sensory feedback adaptation and neural reflexes, is a powerful approach to better understand and solve self-organized adaptive coordination problems in quadruped locomotion.

Original languageEnglish
Title of host publicationRO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication
PublisherIEEE
Publication date8. Nov 2018
Pages1081-1086
ISBN (Print)978-1-5386-7981-4
ISBN (Electronic)978-1-5386-7980-7
DOIs
Publication statusPublished - 8. Nov 2018
Externally publishedYes
Event27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018 - Nanjing, China
Duration: 27. Aug 201831. Aug 2018

Conference

Conference27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018
CountryChina
CityNanjing
Period27/08/201831/08/2018
SeriesIEEE RO-MAN proceedings
ISSN1944-9445

Keywords

  • Adaptive neural control
  • Central pattern generator
  • Quadruped
  • Reflexes
  • Self-organized locomotion

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