TY - JOUR
T1 - Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk
AU - Suzuki, Shura
AU - Kano, Takeshi
AU - Ijspeert, Auke J.
AU - Ishiguro, Akio
N1 - Funding Information:
This work was supported by the Human Frontier Science Program (RGP0027/2017), Japan Science and Technology Agency, CREST (JP-MJCR14D5), the Grant-in-Aid for JSPS Research Fellows (No. 20J10805), and the Division
Funding Information:
The authors would like to thank Dr. Akira Fukuhara, Kotaro Yasui, Taishi Mikami, and Hayato Amaike of Tohoku University for their helpful suggestions. Funding. This work was supported by the Human Frontier Science Program (RGP0027/2017), Japan Science and Technology Agency, CREST (JP-MJCR14D5), the Grant-in-Aid for JSPS Research Fellows (No. 20J10805), and the Division for Interdisciplinary Advanced Research and Education, Tohoku University.
Publisher Copyright:
© Copyright © 2021 Suzuki, Kano, Ijspeert and Ishiguro.
PY - 2021/1/8
Y1 - 2021/1/8
N2 - Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body–limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body–limb coordination and provides a robust, sensory-driven control principle for quadruped robots.
AB - Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body–limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body–limb coordination and provides a robust, sensory-driven control principle for quadruped robots.
KW - body-limb coordination
KW - decentralized control
KW - quadruped robot
KW - sensory feedback control
KW - sprawling locomotion
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U2 - 10.3389/fnbot.2020.607455
DO - 10.3389/fnbot.2020.607455
M3 - Article
AN - SCOPUS:85099746235
SN - 1662-5218
VL - 14
JO - Frontiers in Neurorobotics
JF - Frontiers in Neurorobotics
M1 - 607455
ER -