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タイトル: | Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review |
著者: | Aoi, Shinya Manoonpong, Poramate Ambe, Yuichi Matsuno, Fumitoshi Wörgötter, Florentin |
著者名の別形: | 青井, 伸也 松野, 文俊 |
キーワード: | legged robot interlimb coordination adaptation sensorimotor interaction central pattern generator |
発行日: | 23-Aug-2017 |
出版者: | Frontiers Media SA |
誌名: | Frontiers in Neurorobotics |
巻: | 11 |
号: | 39 |
抄録: | Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptation mechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots. |
著作権等: | © 2017 Aoi, Manoonpong, Ambe, Matsuno and Wörgötter. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
URI: | http://hdl.handle.net/2433/234974 |
DOI(出版社版): | 10.3389/fnbot.2017.00039 |
PubMed ID: | 28878645 |
出現コレクション: | 学術雑誌掲載論文等 |
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