TY - JOUR
T1 - Adaptive control strategies for interlimb coordination in legged robots
T2 - A review
AU - Aoi, Shinya
AU - Manoonpong, Poramate
AU - Ambe, Yuichi
AU - Matsuno, Fumitoshi
AU - Wörgötter, Florentin
N1 - Publisher Copyright:
© 2017 Yu, Moirangthem and Lee.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - 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.
AB - 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.
KW - Adaptation
KW - Central pattern generator
KW - Interlimb coordination
KW - Legged robot
KW - Sensorimotor interaction
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U2 - 10.3389/fnbot.2017.00039
DO - 10.3389/fnbot.2017.00039
M3 - Review article
AN - SCOPUS:85028056933
VL - 11
JO - Frontiers in Neurorobotics
JF - Frontiers in Neurorobotics
SN - 1662-5218
IS - AUG
M1 - 39
ER -