TY - JOUR
T1 - Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking
AU - Owaki, Dai
AU - Horikiri, Shun Ya
AU - Nishii, Jun
AU - Ishiguro, Akio
N1 - Funding Information:
We acknowledge the support of JSPS KAKENHI (grant number JP18H03167 and JP20H04260), and CREST, JST (grant number JP-MJCR14D5).
Publisher Copyright:
© Copyright © 2021 Owaki, Horikiri, Nishii and Ishiguro.
PY - 2021/5/12
Y1 - 2021/5/12
N2 - 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.
AB - 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.
KW - Tegotae
KW - adaptability
KW - bipedal walking
KW - central pattern generator
KW - inter- and intra-limb coordination
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U2 - 10.3389/fnbot.2021.629595
DO - 10.3389/fnbot.2021.629595
M3 - Article
AN - SCOPUS:85107020891
SN - 1662-5218
VL - 15
JO - Frontiers in Neurorobotics
JF - Frontiers in Neurorobotics
M1 - 629595
ER -