@inproceedings{01aa1ee53b9d4349b209cfb1c013f5a4,
title = "“TEGOTAE”-based control of bipedal walking",
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.",
keywords = "Bipedal walking, Central pattern generator (CPG), Plantar sensation, TEGOTAE",
author = "Dai Owaki and Horikiri, {Shun Ya} and Jun Nishii and Akio Ishiguro",
note = "Funding Information: We acknowledge the support of a JSPS KAKENHI Grant-in-Aid for Young Scientists (A) (25709033) and Grant-in-Aid for Scientific Research on Innovative Areas “Understanding brain plasticity on body representations to promote their adaptive functions” (26120008). 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_49",
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 = "472--479",
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",
}