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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...
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/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. |
format | Online Article Text |
id | pubmed-8149599 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
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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