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

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...

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Autores principales: Owaki, Dai, Horikiri, Shun-ya, Nishii, Jun, Ishiguro, Akio
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8149599/
https://www.ncbi.nlm.nih.gov/pubmed/34054453
http://dx.doi.org/10.3389/fnbot.2021.629595
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author Owaki, Dai
Horikiri, Shun-ya
Nishii, Jun
Ishiguro, Akio
author_facet Owaki, Dai
Horikiri, Shun-ya
Nishii, Jun
Ishiguro, Akio
author_sort Owaki, Dai
collection PubMed
description 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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spelling pubmed-81495992021-05-27 Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking Owaki, Dai Horikiri, Shun-ya Nishii, Jun Ishiguro, Akio Front Neurorobot Neuroscience 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. Frontiers Media S.A. 2021-05-12 /pmc/articles/PMC8149599/ /pubmed/34054453 http://dx.doi.org/10.3389/fnbot.2021.629595 Text en Copyright © 2021 Owaki, Horikiri, Nishii and Ishiguro. https://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
Owaki, Dai
Horikiri, Shun-ya
Nishii, Jun
Ishiguro, Akio
Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
title Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
title_full Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
title_fullStr Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
title_full_unstemmed Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
title_short Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
title_sort tegotae-based control produces adaptive inter- and intra-limb coordination in bipedal walking
topic Neuroscience
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8149599/
https://www.ncbi.nlm.nih.gov/pubmed/34054453
http://dx.doi.org/10.3389/fnbot.2021.629595
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