Adaptive control strategies for interlimb coordination in legged robots: A review

Shinya Aoi, Poramate Manoonpong, Yuichi Ambe, Fumitoshi Matsuno, Florentin Wörgötter

Research output: Contribution to journalReview articlepeer-review

52 Citations (Scopus)


Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptationmechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.

Original languageEnglish
Article number39
JournalFrontiers in Neurorobotics
Issue numberAUG
Publication statusPublished - 2017 Aug 23


  • Adaptation
  • Central pattern generator
  • Interlimb coordination
  • Legged robot
  • Sensorimotor interaction

ASJC Scopus subject areas

  • Biomedical Engineering
  • Artificial Intelligence


Dive into the research topics of 'Adaptive control strategies for interlimb coordination in legged robots: A review'. Together they form a unique fingerprint.

Cite this