Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing

Matthieu Dujany, Simon Hauser, Mehmet Mutlu, Martijn Van Der Sar, Jonathan Arreguit, Takeshi Kano, Akio Ishiguro, Auke Ijspeert

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

Abstract

Gait emergence and adaptation in animals is unmatched in robotic systems. Animals can create and recover locomotive functions "on-the-fly"after an injury whereas locomotion controllers for robots lack robustness to morphological changes. In this work, we extend previous research on emergent interlimb coordination of legged robots based on coupled phase oscillators with force feedback terms. We investigate how the coupling weights between these phase oscillators can be extracted from the morphology with a fast and computationally lightweight method based on a combination of twitching and Hebbian learning to form sensor-motor maps. The coefficients of these maps create naturally scaled weights, which not only lead to robust gait limit cycles, but can also adapt to morphological modifications such as sensor loss and limb injuries within a few gait cycles. We demonstrate the approach on a robotic quadruped and hexapod.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7866-7873
Number of pages8
ISBN (Electronic)9781728162126
DOIs
Publication statusPublished - 2020 Oct 24
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 2020 Oct 242021 Jan 24

Publication series

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

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
CountryUnited States
CityLas Vegas
Period20/10/2421/1/24

Keywords

  • Gait adaptation
  • Gait emergence
  • Hebbian learning
  • Locomotion
  • Modular robots
  • Phase oscillators
  • Twitching

ASJC Scopus subject areas

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

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