TY - GEN
T1 - Understanding interlimb coordination mechanism of hexapod locomotion via “TEGOTAE”-based control
AU - Goda, Masashi
AU - Miyazawa, Sakiko
AU - Itayama, Susumu
AU - Owaki, Dai
AU - Kano, Takeshi
AU - Ishiguro, Akio
N1 - Funding Information:
We acknowledge the support of a JSPS KAKENHI Grant-in-Aid for Scientific Research (B) (16H04381).
Publisher Copyright:
© Springer International Publishing Switzerland 2016.
PY - 2016
Y1 - 2016
N2 - Insects exhibit surprisingly adaptive and versatile locomotion despite their limited computational resources. Such locomotor patterns are generated via coordination between leg movements, i.e., an interlimb coordination mechanism. The clarification of this mechanism will lead us to elucidate the fundamental control principle of animal locomotion as well as to realize truly adaptive legged robots that could not be developed solely by conventional control theory. In this study, we tried to model the interlimb coordination mechanism underlying hexapod locomotion on the basis of a concept called “TEGOTAE,” a Japanese concept describing how well a perceived reaction matches an expectation. Preliminary experimental results show that our proposed TEGOTAE based control scheme allows us to systematically design a decentralized interlimb coordination mechanism that can well-reproduce insects’ gait patterns.
AB - Insects exhibit surprisingly adaptive and versatile locomotion despite their limited computational resources. Such locomotor patterns are generated via coordination between leg movements, i.e., an interlimb coordination mechanism. The clarification of this mechanism will lead us to elucidate the fundamental control principle of animal locomotion as well as to realize truly adaptive legged robots that could not be developed solely by conventional control theory. In this study, we tried to model the interlimb coordination mechanism underlying hexapod locomotion on the basis of a concept called “TEGOTAE,” a Japanese concept describing how well a perceived reaction matches an expectation. Preliminary experimental results show that our proposed TEGOTAE based control scheme allows us to systematically design a decentralized interlimb coordination mechanism that can well-reproduce insects’ gait patterns.
KW - Central pattern generator (CPG)
KW - Hexapod locomotion
KW - Interlimb coordination
KW - Local force feedback
KW - TEGOTAE
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U2 - 10.1007/978-3-319-42417-0_44
DO - 10.1007/978-3-319-42417-0_44
M3 - Conference contribution
AN - SCOPUS:84978859581
SN - 9783319424163
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 441
EP - 448
BT - Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
A2 - Lepora, Nathan F.
A2 - Mura, Anna
A2 - Desmulliez, Marc
A2 - Mangan, Michael
A2 - Verschure, Paul F.M.J.
A2 - Prescott, Tony J.
PB - Springer Verlag
T2 - 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Y2 - 19 July 2016 through 22 July 2016
ER -