Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply the Tegotae approach, a Japanese concept describing how well a...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-05-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2021.629595/full |
| _version_ | 1819085532548825088 |
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| author | Dai Owaki Shun-ya Horikiri Jun Nishii Akio Ishiguro |
| author_facet | Dai Owaki Shun-ya Horikiri Jun Nishii Akio Ishiguro |
| author_sort | Dai Owaki |
| collection | DOAJ |
| description | Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply the Tegotae approach, a Japanese concept describing how well a perceived reaction, i.e., sensory information, matches an expectation, i.e., an intended motor command, in designing localised controllers in the CPG-based bipedal walking model. To this end, we developed a Tegotae function that quantifies the Tegotae concept. This function allowed incorporating decentralised controllers into the proposed bipedal walking model systematically. We designed a two-dimensional bipedal walking model using Tegotae functions and subsequently implemented it in simulations to validate the proposed design scheme. We found that our model can walk on both flat and uneven terrains and confirmed that the application of the Tegotae functions in all joint controllers results in excellent adaptability to environmental changes. |
| first_indexed | 2024-12-21T21:05:51Z |
| format | Article |
| id | doaj.art-233c11bd434e42ba9eb34a23dcdf0439 |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-21T21:05:51Z |
| publishDate | 2021-05-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-233c11bd434e42ba9eb34a23dcdf04392022-12-21T18:50:17ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182021-05-011510.3389/fnbot.2021.629595629595Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal WalkingDai Owaki0Shun-ya Horikiri1Jun Nishii2Akio Ishiguro3Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, JapanResearch Institute of Electrical Communication, Tohoku University, Sendai, JapanGraduate School of Sciences and Technology for Innovation, Yamaguchi University, Yamaguchi, JapanResearch Institute of Electrical Communication, Tohoku University, Sendai, JapanDespite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply the Tegotae approach, a Japanese concept describing how well a perceived reaction, i.e., sensory information, matches an expectation, i.e., an intended motor command, in designing localised controllers in the CPG-based bipedal walking model. To this end, we developed a Tegotae function that quantifies the Tegotae concept. This function allowed incorporating decentralised controllers into the proposed bipedal walking model systematically. We designed a two-dimensional bipedal walking model using Tegotae functions and subsequently implemented it in simulations to validate the proposed design scheme. We found that our model can walk on both flat and uneven terrains and confirmed that the application of the Tegotae functions in all joint controllers results in excellent adaptability to environmental changes.https://www.frontiersin.org/articles/10.3389/fnbot.2021.629595/fullbipedal walkingcentral pattern generatorinter- and intra-limb coordinationTegotaeadaptability |
| spellingShingle | Dai Owaki Shun-ya Horikiri Jun Nishii Akio Ishiguro Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking Frontiers in Neurorobotics bipedal walking central pattern generator inter- and intra-limb coordination Tegotae adaptability |
| title | Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking |
| title_full | Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking |
| title_fullStr | Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking |
| title_full_unstemmed | Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking |
| title_short | Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking |
| title_sort | tegotae based control produces adaptive inter and intra limb coordination in bipedal walking |
| topic | bipedal walking central pattern generator inter- and intra-limb coordination Tegotae adaptability |
| url | https://www.frontiersin.org/articles/10.3389/fnbot.2021.629595/full |
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