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Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk
Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end,...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7820706/ https://www.ncbi.nlm.nih.gov/pubmed/33488377 http://dx.doi.org/10.3389/fnbot.2020.607455 |
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author | Suzuki, Shura Kano, Takeshi Ijspeert, Auke J. Ishiguro, Akio |
author_facet | Suzuki, Shura Kano, Takeshi Ijspeert, Auke J. Ishiguro, Akio |
author_sort | Suzuki, Shura |
collection | PubMed |
description | Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body–limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body–limb coordination and provides a robust, sensory-driven control principle for quadruped robots. |
format | Online Article Text |
id | pubmed-7820706 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-78207062021-01-23 Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk Suzuki, Shura Kano, Takeshi Ijspeert, Auke J. Ishiguro, Akio Front Neurorobot Neuroscience Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body–limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body–limb coordination and provides a robust, sensory-driven control principle for quadruped robots. Frontiers Media S.A. 2021-01-08 /pmc/articles/PMC7820706/ /pubmed/33488377 http://dx.doi.org/10.3389/fnbot.2020.607455 Text en Copyright © 2021 Suzuki, Kano, Ijspeert and Ishiguro. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Neuroscience Suzuki, Shura Kano, Takeshi Ijspeert, Auke J. Ishiguro, Akio Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk |
title | Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk |
title_full | Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk |
title_fullStr | Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk |
title_full_unstemmed | Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk |
title_short | Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk |
title_sort | sprawling quadruped robot driven by decentralized control with cross-coupled sensory feedback between legs and trunk |
topic | Neuroscience |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7820706/ https://www.ncbi.nlm.nih.gov/pubmed/33488377 http://dx.doi.org/10.3389/fnbot.2020.607455 |
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