Leg stiffness control based on “TEGOTAE” for quadruped locomotion

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

2 Citations (Scopus)


Quadrupeds exhibit adaptive limb coordination to achieve versatile and efficient locomotion. In particular, the leg-trajectory changes in response to locomotion speed. The goal of this study is to reproduce this modulation of leg-trajectory and to understand the control mechanism underlying quadruped locomotion. We focus primarily on the modulation of stiffness of the leg because the trajectory is a result of the interaction between the leg and the environment during locomotion. In this study, we present a “TEGOTAE”-based control scheme to modulate the leg stiffness. TEGOTAE is a Japanese concept describing the extent to which a perceived reaction matches the expected reaction. By using the presented scheme, foot-trajectories were modified and the locomotion speed increased correspondingly.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
EditorsNathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
PublisherSpringer Verlag
Number of pages6
ISBN (Print)9783319424163
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
Duration: 2016 Jul 192016 Jul 22

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Country/TerritoryUnited Kingdom


  • Autonomous distributed control
  • Foot trajectory
  • Leg stiffness
  • Quadruped locomotion

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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