@inproceedings{186e098ea7c9457dab59c96752bffe91,
title = "Leg stiffness control based on “TEGOTAE” for quadruped locomotion",
abstract = "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.",
keywords = "Autonomous distributed control, Foot trajectory, Leg stiffness, Quadruped locomotion, TEGOTAE",
author = "Akira Fukuhara and Dai Owaki and Takeshi Kano and Akio Ishiguro",
note = "Funding Information: This work was supported by JSPS KAKENHI Grant-in-Aid for JSPS Fellows (16J03825). Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 ; Conference date: 19-07-2016 Through 22-07-2016",
year = "2016",
doi = "10.1007/978-3-319-42417-0_8",
language = "English",
isbn = "9783319424163",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "79--84",
editor = "Lepora, {Nathan F.} and Anna Mura and Marc Desmulliez and Michael Mangan and Verschure, {Paul F.M.J.} and Prescott, {Tony J.}",
booktitle = "Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings",
}