Decentralized control mechanism for body–limb coordination in quadruped running. (June 2020)

• Record Type: Journal Article
• Authors: Fukuhara, Akira; Koizumi, Yukihiro; Suzuki, Shura; Kano, Takeshi; Ishiguro, Akio
• Other Names: Manoonpong Poramate guest-editor.; Xiong Xiaofeng guest-editor.; Larsen Jørgen Christian guest-editor.
• Is Part Of: Adaptive behavior. Volume 28:Number 3(2020)
• Page Start: 151
• Page End: 164
• Publication Date: 2020-06
• Subjects: Quadruped locomotion -- high-speed running -- body–limb coordination -- central pattern generator -- local sensory feedback; Animal behavior -- Periodicals; Animals -- Adaptation -- Periodicals; Adaptability (Psychology) -- Periodicals; Adaptation, Psychological -- Periodicals; Artificial intelligence -- Periodicals; 591.5
• DOI: 10.1177/1059712319865180
• Languages: English
• ISSNs: 1741-2633

Abstract

As a mechanism for survival, quadrupeds have obtained skills involving coordination between limbs and the body (i.e. body–limb coordination), providing fast and adaptive locomotion compared with motion using only limbs. Several bio-inspired robotics studies have resulted in the development of legged robots that utilize a flexible spine, similar to cheetahs. However, the control principle of body–limb coordination has not been established to date. From the perspective of a decentralized control scheme, a minimal body–limb coordination mechanism is proposed in this study, in which body parts aid each other via a sensory feedback mechanism. The two-dimensional simulation and hardware experiments reveal that bilateral sensory feedback between limbs and body is essential for the robot to adaptively generate a body–limb coordination pattern and achieve faster locomotion speed than that by only limbs in efficient manner.