Abstract The manner in which quadrupeds change their locomotive patterns—walking, trotting, and galloping—with changing speed is poorly understood. In this paper, we provide evidence for interlimb coordination during gait transitions using a quadruped robot between the legs can be self-organized through simple “central pattern generator” (CPG) model. We demonstrate spontaneous energy-efficient patterns by only parameter related to speed. Interlimb was achieved with use of local load sensing...

Quadrupeds have versatile gait patterns, depending on the locomotion speed, environmental conditions and animal species. These locomotor patterns are generated via coordination between limbs partly controlled by an intraspinal neural network called central pattern generator (CPG). Although this forms basis for current control paradigms of interlimb coordination, mechanism responsible remains elusive. By using a minimalistic approach, we developed simple-structured quadruped robot, with help...

Motion prediction based on kinematic information such as body segment displacement and joint angle has been widely studied. Because motions originate from forces, it is beneficial to estimate dynamic information, the ground reaction force (GRF), in addition for advanced motion prediction. In this study, we proposed a method GRF moment (GRM) electromyography (EMG) combination with without an inertial measurement unit (IMU) sensor using machine learning technique. A long short-term memory...

The steady increase in the aging population worldwide is expected to cause a shortage of doctors and therapists for older people. This demographic shift requires more efficient automated systems rehabilitation physical ability evaluations. Rehabilitation using mixed reality (MR) technology has attracted much attention recent years. MR displays virtual objects on head-mounted see-through display that overlies user’s field vision allows users manipulate them as if they exist reality. However,...

Insects exhibit adaptive and versatile locomotion despite their minimal neural computing. Such locomotor patterns are generated via coordination between leg movements, i.e., an interlimb coordination, which is largely controlled in a distributed manner by circuits located thoracic ganglia. However, the mechanism responsible for still remains elusive. Understanding this will help us to elucidate fundamental control principle of animals' agile realize robots with legs that truly could not be...

One of the fundamental limitations in human biomechanics is that we cannot directly obtain joint moments during natural movements without affecting motion. However, estimating these values feasible with inverse dynamics computation by employing external force plates, which can cover only a small area plate. This work investigated Long Short-Term Memory (LSTM) network for kinetics and kinematics prediction lower limbs when performing different activities using plates after learning. We...

Reliable proprioception and feedback from soft sensors are crucial for enabling robots to function intelligently in real-world environments. Nevertheless, fragile susceptible various damage sources such Some researchers have utilized redundant configuration, where healthy compensate instantaneously lost ones maintain accuracy. However, achieving consistently reliable under diverse sensor degradation remains a challenge. This paper proposes novel framework graceful systems, incorporating...

Four-legged robots are becoming increasingly pivotal in navigating challenging environments, such as construction sites and disaster zones. While substantial progress robotic mobility has been achieved using reinforcement learning techniques, quadruped animals exhibit superior agility by employing fundamentally different strategies. Bio-inspired controllers have developed to replicate understand biological locomotion However, a comprehensive understanding of the influence foot trajectories...

This study introduces a novel system for evaluating hand motor function through synergy-based analysis during object manipulation in virtual and mixed-reality environments. Conventional assessments of are often subjective, relying on visual observation by therapists or patient-reported outcomes. To address these limitations, we developed that utilizes the leap motion controller (LMC) to capture finger data without constraints glove-type devices. Spatial synergies were extracted using...

Abstract Stick insects exhibit remarkable adaptive walking capabilities across diverse environments; however, the mechanisms underlying their gait transitions remain poorly understood. Although reinforcement learning (RL) has been employed to generate insect-like gaits, design of an appropriate reward function presents a challenge due probabilistic and continuous nature transitions. This study utilized maximum entropy inverse (MaxEnt-IRL) infer that governs stick insect selection,...

Jellyfish cyborgs present a promising avenue for soft robotic systems, leveraging the natural energy-efficiency and adaptability of biological systems. Here we an approach predicting controlling jellyfish locomotion by harnessing embodied intelligence these animals. We developed integrated muscle electrostimulation 3D motion capture system to quantify both spontaneous stimulus-induced behaviors in Aurelia coerulea jellyfish. Our key findings include investigation self-organized criticality...

This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic running (PDR), i.e., gait with flight phase in device without an actuator. By carefully designing properties elastic elements implemented into hip joints and stance legs this device, we achieved stable PDR consisting 36 steps. The main contribution paper demonstration world, which fully exploits mechanical properties.

Recently, myriapods have attracted the attention of engineers because mobile robots that mimic them potentially capability producing highly stable, adaptive, and resilient behaviors. The major challenge here is to develop a control scheme can coordinate their numerous legs in real time, an autonomous decentralized could be key solve this problem. Therefore, we focus on centipedes aim design for myriapod by drawing inspiration from behavioral experiments centipede locomotion under unusual...

Legged animals exhibit adaptive and resilient locomotion through interlimb coordination. The long-term goal of this study is to clarify the relationship between number legs inherent decentralized control mechanism for As a preliminary step, focuses on millipedes as they represent species with greatest among various animal species. A involving local force feedback was proposed based qualitative findings behavioural experiments in which responses removal part terrain leg amputation were...

This is the first study of a real physical kneed bipedal robot that exhibits passive dynamic running (PDR). Passive walking (PDW), which has its roots in pioneering research McGeer, intrinsically offers not only nonlinear phenomena such as pull-in effect and period-doubling bifurcation, but also an extremely interesting phenomenon facilitates engineering highly efficient robot. In recent years, wide variety verification experiments PDW were performed using actual devices. contrast, however,...

Quadrupeds change their gait patterns in response to locomotion speed achieve low cost of transport over a wide range speeds. Understanding the underlying control mechanism is essential establish design principle for legged robots that can adaptively generate energy-efficient patterns. Even decerebrate cats exhibit spontaneous transition, suggesting adaptive are generated via decentralized systems, i.e. central pattern generators and reflexes. Several studies address this issue; however,...

The importance of gait analysis in medical applications, such as rehabilitation, has been widely studied. Wearable sensors have gained popularity owing to their convenience use a flexible environment, while providing accuracy and reliability, comparison with the gold standard system, i.e., motion capture. In this study, we proposed framework for quantitative assessment using only two inertial measurement unit (IMU) sensors, extracting maximum number features. Decreasing negatively affects...

Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology designing a CPG-based controller. To remedy this oversight, we attempted to apply Tegotae approach, Japanese describing how well perceived reaction, i.e., sensory information, matches an expectation, intended motor command, in localised controllers model. end, developed function that quantifies concept. This allowed incorporating...

Generating multimodal locomotion in underactuated bipedal robots requires control solutions that can facilitate motion patterns for drastically different dynamical modes, which is an extremely challenging problem locomotion-learning tasks. Also, such locomotion, utilizing body morphology important because it leads to energy-efficient locomotion. This study provides a framework reproduces using passive dynamics through deep reinforcement learning (DRL). An model was developed based on walker,...