Adaptive bipedal walking through sensory-motor coordination yielded from soft deformable feet

Dai Owaki, Hiroki Fukuda, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, we investigate an adaptive bipedal walking control that exploits sensory information stemming from 'soft deformable' feet. To this end, we developed a bipedal robot with soft deformable feet and proposed an unconventional CPG (central pattern generator)-based control that exploits the local force feedback generated from such deformation. Through experiments with the constructed robot, we have found that the robot exhibits a remarkably adaptive walking ability in response to a change in walking velocity and external perturbations. These results support the conclusion that the 'deformation' of a robot's body plays a pivotal role in the emergence of 'sensory-motor coordination', which is the key for generating adaptive locomotion in a robotic system.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4257-4263
Number of pages7
DOIs
Publication statusPublished - 2012 Dec 1
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country/TerritoryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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