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Title: Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review
Authors: Aoi, Shinya  kyouindb  KAKEN_id
Manoonpong, Poramate
Ambe, Yuichi
Matsuno, Fumitoshi
Wörgötter, Florentin
Author's alias: 青井, 伸也
松野, 文俊
Keywords: legged robot
interlimb coordination
adaptation
sensorimotor interaction
central pattern generator
Issue Date: 23-Aug-2017
Publisher: Frontiers Media SA
Journal title: Frontiers in Neurorobotics
Volume: 11
Issue: 39
Abstract: 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.
Rights: © 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(Published Version): 10.3389/fnbot.2017.00039
PubMed ID: 28878645
Appears in Collections:Journal Articles

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