Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking

被引:14
|
作者
Owaki, Dai [1 ]
Horikiri, Shun-ya [2 ]
Nishii, Jun [3 ]
Ishiguro, Akio [2 ]
机构
[1] Tohoku Univ, Grad Sch Engn, Dept Robot, Sendai, Miyagi, Japan
[2] Tohoku Univ, Res Inst Elect Commun, Sendai, Miyagi, Japan
[3] Yamaguchi Univ, Grad Sch Sci & Technol Innovat, Yamaguchi, Japan
关键词
bipedal walking; central pattern generator; inter; and intra-limb coordination; Tegotae; adaptability; MUSCULO-SKELETAL SYSTEM; ANKLE PUSH-OFF; LOCOMOTION CONTROL; PLANTAR PRESSURE; DYNAMIC WALKING; GENERATION; MODEL; GAIT; ORGANIZATION; MECHANISMS;
D O I
10.3389/fnbot.2021.629595
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply the Tegotae approach, a Japanese concept describing how well a perceived reaction, i.e., sensory information, matches an expectation, i.e., an intended motor command, in designing localised controllers in the CPG-based bipedal walking model. To this end, we developed a Tegotae function that quantifies the Tegotae concept. This function allowed incorporating decentralised controllers into the proposed bipedal walking model systematically. We designed a two-dimensional bipedal walking model using Tegotae functions and subsequently implemented it in simulations to validate the proposed design scheme. We found that our model can walk on both flat and uneven terrains and confirmed that the application of the Tegotae functions in all joint controllers results in excellent adaptability to environmental changes.
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页数:16
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