“TEGOTAE”-based control of bipedal walking

Dai Owaki, Shun Ya Horikiri, Jun Nishii, Akio Ishiguro

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

1 Citation (Scopus)

Abstract

Despite the appealing concept of “central pattern generator” (CPG)-based control for bipedal walking, there is currently no systematic methodology for designing a CPG controller. To tackle this problem, we employ a unique approach: We attempt to design local controllers in the CPG model for bipedal walking based on the viewpoint of “TEGOTAE”, which is a Japanese concept describing how well a perceived reaction matches an expectation. To this end, we introduce a TEGOTAE function that quantitatively measures TEGOTAE. Using this function, we can design decentralized controllers in a systematic manner. We designed a two-dimensional bipedal walking model using TEGOTAE functions and constructed simulations using the model to verify the validity of the proposed design scheme. We found that our model can stably walk on flat terrain.

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
Pages472-479
Number of pages8
ISBN (Print)9783319424163
DOIs
Publication statusPublished - 2016 Jan 1
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)
Volume9793
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
CountryUnited Kingdom
CityEdinburgh
Period16/7/1916/7/22

Keywords

  • Bipedal walking
  • Central pattern generator (CPG)
  • Plantar sensation
  • TEGOTAE

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Owaki, D., Horikiri, S. Y., Nishii, J., & Ishiguro, A. (2016). “TEGOTAE”-based control of bipedal walking. In N. F. Lepora, A. Mura, M. Desmulliez, M. Mangan, P. F. M. J. Verschure, & T. J. Prescott (Eds.), Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings (pp. 472-479). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9793). Springer-Verlag. https://doi.org/10.1007/978-3-319-42417-0_49