Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running

Akira Fukuhara; Yukihiro Koizumi; Shura Suzuki; Takeshi Kano; Akio Ishiguro

doi:10.1007/978-3-319-97628-0_5

Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running

Akira Fukuhara, Yukihiro Koizumi, Shura Suzuki, Takeshi Kano, Akio Ishiguro

RIEC - Human and Bio Information Systems Division

Tohoku University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Cursorial quadrupeds exploit their limbs and bodies (i.e., body–limb coordination) to achieve faster locomotion speed when compared to that with only limbs. Extant studies examined various legged robots that utilize flexible spine bending. However, the control principle of body–limb coordination is not established to date. This study proposes a novel control scheme for body–limb coordination in which all degrees of freedom of the entire body aid each other in achieving higher performance. The 2D simulation results indicate that mutual sensory feedback between the limb and spine plays essential roles in generating their adaptive locomotion patterns in response to physical situations of the body parts and thereby in achieving faster locomotion speeds.

Original language	English
Title of host publication	From Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings
Editors	Poramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, Jochen Triesch
Publisher	Springer Verlag
Pages	56-65
Number of pages	10
ISBN (Print)	9783319976273
DOIs	https://doi.org/10.1007/978-3-319-97628-0_5
Publication status	Published - 2018
Event	15th International Conference on the Simulation of Adaptive Behavior, SAB 2018 - Frankfurt/Main, Germany Duration: 2018 Aug 14 → 2018 Aug 17

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10994 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	15th International Conference on the Simulation of Adaptive Behavior, SAB 2018
Country/Territory	Germany
City	Frankfurt/Main
Period	18/8/14 → 18/8/17

Keywords

Body–limb coordination
High-speed locomotion
Quadruped locomotion

Access to Document

10.1007/978-3-319-97628-0_5

Cite this

Fukuhara, A., Koizumi, Y., Suzuki, S., Kano, T., & Ishiguro, A. (2018). Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running. In P. Manoonpong, J. C. Larsen, X. Xiong, J. Hallam, & J. Triesch (Eds.), From Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings (pp. 56-65). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10994 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-97628-0_5

Fukuhara, Akira ; Koizumi, Yukihiro ; Suzuki, Shura et al. / Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running. From Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings. editor / Poramate Manoonpong ; Jørgen Christian Larsen ; Xiaofeng Xiong ; John Hallam ; Jochen Triesch. Springer Verlag, 2018. pp. 56-65 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running",

abstract = "Cursorial quadrupeds exploit their limbs and bodies (i.e., body–limb coordination) to achieve faster locomotion speed when compared to that with only limbs. Extant studies examined various legged robots that utilize flexible spine bending. However, the control principle of body–limb coordination is not established to date. This study proposes a novel control scheme for body–limb coordination in which all degrees of freedom of the entire body aid each other in achieving higher performance. The 2D simulation results indicate that mutual sensory feedback between the limb and spine plays essential roles in generating their adaptive locomotion patterns in response to physical situations of the body parts and thereby in achieving faster locomotion speeds.",

keywords = "Body–limb coordination, High-speed locomotion, Quadruped locomotion",

author = "Akira Fukuhara and Yukihiro Koizumi and Shura Suzuki and Takeshi Kano and Akio Ishiguro",

note = "Funding Information: This work was supported by Japan Science and Technology Agency, CREST (JPMJCR14D5). Publisher Copyright: {\textcopyright} 2018, Springer Nature Switzerland AG.; 15th International Conference on the Simulation of Adaptive Behavior, SAB 2018 ; Conference date: 14-08-2018 Through 17-08-2018",

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Fukuhara, A, Koizumi, Y, Suzuki, S, Kano, T & Ishiguro, A 2018, Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running. in P Manoonpong, JC Larsen, X Xiong, J Hallam & J Triesch (eds), From Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10994 LNAI, Springer Verlag, pp. 56-65, 15th International Conference on the Simulation of Adaptive Behavior, SAB 2018, Frankfurt/Main, Germany, 18/8/14. https://doi.org/10.1007/978-3-319-97628-0_5

Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running. / Fukuhara, Akira; Koizumi, Yukihiro; Suzuki, Shura et al.
From Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings. ed. / Poramate Manoonpong; Jørgen Christian Larsen; Xiaofeng Xiong; John Hallam; Jochen Triesch. Springer Verlag, 2018. p. 56-65 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10994 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running

AU - Fukuhara, Akira

AU - Koizumi, Yukihiro

AU - Suzuki, Shura

AU - Kano, Takeshi

AU - Ishiguro, Akio

PY - 2018

Y1 - 2018

N2 - Cursorial quadrupeds exploit their limbs and bodies (i.e., body–limb coordination) to achieve faster locomotion speed when compared to that with only limbs. Extant studies examined various legged robots that utilize flexible spine bending. However, the control principle of body–limb coordination is not established to date. This study proposes a novel control scheme for body–limb coordination in which all degrees of freedom of the entire body aid each other in achieving higher performance. The 2D simulation results indicate that mutual sensory feedback between the limb and spine plays essential roles in generating their adaptive locomotion patterns in response to physical situations of the body parts and thereby in achieving faster locomotion speeds.

AB - Cursorial quadrupeds exploit their limbs and bodies (i.e., body–limb coordination) to achieve faster locomotion speed when compared to that with only limbs. Extant studies examined various legged robots that utilize flexible spine bending. However, the control principle of body–limb coordination is not established to date. This study proposes a novel control scheme for body–limb coordination in which all degrees of freedom of the entire body aid each other in achieving higher performance. The 2D simulation results indicate that mutual sensory feedback between the limb and spine plays essential roles in generating their adaptive locomotion patterns in response to physical situations of the body parts and thereby in achieving faster locomotion speeds.

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Y2 - 14 August 2018 through 17 August 2018

ER -

Fukuhara A, Koizumi Y, Suzuki S, Kano T , Ishiguro A. Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running. In Manoonpong P, Larsen JC, Xiong X, Hallam J, Triesch J, editors, From Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings. Springer Verlag. 2018. p. 56-65. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-97628-0_5

Minimal Model for Body–Limb Coordination in Quadruped High-Speed Running

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