Autonomous gait transition and galloping over unperceived obstacles of a quadruped robot with CPG modulated by vestibular feedback

Fukui, Tsuguya; Fujisawa, Hisamu; Otaka, Kotaro; Fukuoka, Yasuhiro

doi:10.1016/j.robot.2018.10.002

Cited by 35 publications

(31 citation statements)

References 65 publications

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“…Secondly, the vestibular reflexes, which are the fundamental biological principle of legged locomotion, have been demonstrated in many quadruped robots for adapting body posture to maintain balance when facing, e.g., an inclination (slope) (Kimura and Fukuoka, 2004;Liu et al, 2013) or a perturbation (Fukui et al, 2019). For instance, when quadrupeds stand or walk on a slope, they need to actively adjust the normal position of their leg joints to acquire proper body posture, thereby sustaining their balance on the slope (as shown in section 3.3 and Fukuoka et al, 2003).…”

Section: Discussionmentioning

confidence: 99%

“…For instance, when quadrupeds stand or walk on a slope, they need to actively adjust the normal position of their leg joints to acquire proper body posture, thereby sustaining their balance on the slope (as shown in section 3.3 and Fukuoka et al, 2003). In addition, in the work of Fukui et al, the vestibular feedback was used to modulate CPG activities for producing gait transitions (Fukui et al, 2019). The vestibular feedback was integrated into CPG control to improve the adaptation of the interlimb movement pattern that is originally generated by coupled CPGs with predefined connections.…”

Section: Discussionmentioning

confidence: 99%

“…Several existing studies in this field have been presented to date. For example, Fukuoka et al constructed a series of Tekken robots (Kimura and Fukuoka, 2004;Fukuoka and Kimura, 2009) and the Spinalbot robot (Fukui et al, 2019) to investigate bio-inspired adaptive locomotion mechanisms [central pattern generators (CPGs) and reflexes mechanism] with predefined interlimb coordination. Although their robots exhibit dynamic locomotion and gait transition, it is hard to use them for studying self-organized interlimb locomotion owing to their binary foot contact sensors, as the selforganized interlimb coordination is a continuous and dynamic interaction process among continuous sensory feedback, neural control, and body-environment dynamics (Owaki et al, 2013;Tao et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors

et al. 2020

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Self-organization of locomotion characterizes the feature of automatically spontaneous gait generation without preprogrammed limb movement coordination. To study this feature in quadruped locomotion, we propose here a new open-source, small-sized reconfigurable quadruped robot, called Lilibot, with multiple sensory feedback and its physical simulation. Lilibot was designed as a friendly quadrupedal platform with unique characteristics, including light weight, easy handling, modular components, and multiple real-time sensory feedback. Its modular components can be flexibly reconfigured to obtain features, such as different leg orientations for testing the effectiveness and generalization of self-organized locomotion control. Its multiple sensory feedback (i.e., joint angles, joint velocities, joint currents, joint voltages, and body inclination) can support vestibular reflexes and compliant control mechanisms for body posture stabilization and compliant behavior, respectively. To evaluate the performance of Lilibot, we implemented our developed adaptive neural controller on it. The experimental results demonstrated that Lilibot can autonomously and rapidly exhibit adaptive and versatile behaviors, including spontaneous self-organized locomotion (i.e., adaptive locomotion) under different leg orientations, body posture stabilization on a tiltable plane, and leg compliance for unexpected external load compensation. To this end, we successfully developed an open-source, friendly, small-sized, and lightweight quadruped robot with reconfigurable legs and multiple sensory feedback that can serve as a generic quadrupedal platform for research and education in the fields of locomotion, vestibular reflex-based, and compliant control.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors

et al. 2020

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“…To demonstrates these mechanisms, biologists have proposed some neurological principles, such as central pattern generators (CPGs) (Marder and Bucher, 2001), reflex chains (Grillner, 1975), and sensory feedback (Grillner, 2003;Rossignol et al, 2006), through biological experiments. In addition, roboticists have developed many bio-inspired neural control schemes for legged robots to emulate animal-like self-organized locomotion (Kimura et al, 2007;Owaki et al, 2013;Barikhan et al, 2014;Ambe et al, 2018;Fukui et al, 2019;Miguel-Blanco and Manoonpong, 2020). To realize self-organized locomotion and adaptation on artificial legged systems, many adaptive robot control schemes based on distributed abstract CPGs incorporating ground reaction force (GRF) feedback have been proposed (Kimura et al, 2007;Owaki et al, 2013;Barikhan et al, 2014;Ambe et al, 2018;Fukui et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion

et al. 2021

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Walking animals demonstrate impressive self-organized locomotion and adaptation to body property changes by skillfully manipulating their complicated and redundant musculoskeletal systems. Adaptive interlimb coordination plays a crucial role in this achievement. It has been identified that interlimb coordination is generated through dynamical interactions between the neural system, musculoskeletal system, and environment. Based on this principle, two classical interlimb coordination mechanisms (continuous phase modulation and phase resetting) have been proposed independently. These mechanisms use decoupled central pattern generators (CPGs) with sensory feedback, such as ground reaction forces (GRFs), to generate robot locomotion autonomously without predefining it (i.e., self-organized locomotion). A comparative study was conducted on the two mechanisms under decoupled CPG-based control implemented on a quadruped robot in simulation. Their characteristics were compared by observing their CPG phase convergence processes at different control parameter values. Additionally, the mechanisms were investigated when the robot faced various unexpected situations, such as noisy feedback, leg motor damage, and carrying a load. The comparative study reveals that the phase modulation and resetting mechanisms demonstrate satisfactory performance when they are subjected to symmetric and asymmetric GRF distributions, respectively. This work also suggests a strategy for the appropriate selection of adaptive interlimb coordination mechanisms under different conditions and for the optimal setting of their control parameter values to enhance their control performance.

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“…A control strategy based on four three-dimensional spring dampers was proposed by Tran et al [29], and the rotational disturbance control of quadruped walking robot under unknown terrain conditions was implemented. A gait generator based on CPGs modulated by vestibular feedback was proposed by Fukui T et al [30]. The bio-inspired robot robustly ran with an emergent gallop while stepping on and over several types of unperceived obstacles.…”

Section: Introductionmentioning

confidence: 99%

The Complex Dynamic Locomotive Control and Experimental Research of a Quadruped-Robot Based on the Robot Trunk

et al. 2019

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The research of quadruped robots is fundamentally motivated by their excellent performance in complex terrain. Maintaining the trunk moving smoothly is the basis of assuring the stable locomotion of the robot. In this paper we propose a planning and control strategy for the pacing gait of hydraulic quadruped robots based on the centroid. Initially, the kinematic model between the single leg and the robot trunk was established. The coupling of trunk motion and leg motion was elaborated on in detail. Then, the real-time attitude feedback information of the trunk was considered, the motion trajectory of the trunk centroid was planned, and the foot trajectory of the robot was carried out. Further, the joint torques were calculated that fulfillment minimization of the contact forces. The position and attitude of the robot trunk were adjusted by the presented controller. Finally, the performance of the proposed control framework was tested in simulations and on a robot platform. By comparing the attitude of the robot trunk, the experimental results show that the trunk moved smoothly with small-magnitude by the proposed controller. The stable dynamic motion of the hydraulic quadruped robot was accomplished, which verified the effectiveness and feasibility of the proposed control strategy.

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Autonomous gait transition and galloping over unperceived obstacles of a quadruped robot with CPG modulated by vestibular feedback

Cited by 35 publications

References 65 publications

Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors

Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors

A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion

The Complex Dynamic Locomotive Control and Experimental Research of a Quadruped-Robot Based on the Robot Trunk

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