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...

Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of underlying central peripheral components in spinal cord. Many vertebrate swimmers have pattern generators local pressure-sensitive receptors that provide information about surrounding fluid. However, it remains difficult study experimentally how these sensors influence motor commands animals. Here, using a specifically designed robot captures essential animal neuromechanical system simulations,...

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...

As of July, 2020, acute respiratory syndrome caused by coronavirus COVID-19 is spreading over the world and causing severe economic damages. While minimizing human contact effective in managing outbreak, it causes losses. Strategies solving this dilemma considering interrelation between spread virus activities are urgent needs for mitigating health damage. Here we propose an abstract agent-based model outbreak which taken into account. The computational simulation recapitulated trade-off...

A neural network controller for trajectory control of robotic manipulators that is used not to internalize the inverse dynamic model controlled object but compensate only uncertainties manipulator presented. Its performance compared with conventional adaptive scheme. The results show ability adapt unstructured effects. learning method compensator true teaching signals shown. tracking error was greatly reduced when this used.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML"...

The authors present a novel control method for forced commutated cycloconverters (PWM cycloconverters). Using this the sinusoidal input and output current waveforms unity displacement factor can be obtained. Moreover, compensation of asymmetrical and/or harmonic contaminated source voltages is easily realized. This allows not to controllable, but fixed at approximately unity. Since desirable motordrive use PWM cycloconverters, constraint new obstacle. Feasibility proposed verified by...

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...

Crawling using muscular waves is observed in many species, including planaria, leeches, nemertea, aplysia, snails, chitons, earthworms and maggots. Contraction or extension propagate along the antero-posterior axis of body as crawler pushes ground substratum backward. However, observation that locomotory can be directed forward backward has attracted much attention over past hundred years. Legged organisms such centipedes millipedes exhibit parallel phenomena; leg tips form density forward....

This paper explores the applicability of bicycle-inspired balance control in a quadruped robot model. Bicycles maintain stability and change direction by intuitively steering handle, which induces yaw motion body frame generates an inertial effect to support balance. Inspired this balancing strategy, we implemented similar mechanism model, introducing trunk joint analogous bicycle's handle. Simulation results demonstrate that proposed model achieves stable high-speed locomotion with...

All animals use mechanosensors to help them move in complex and changing environments. With few exceptions, these sensors are embedded soft tissues that deform normal such sensory feedback results from the interaction of an animal with its environment. Useful information about environment is expected be mechanical responses during movements. To explore how can used control movements, we have developed a soft-bodied crawling robot inspired by highly tractable model, tobacco hornworm Manduca...

Snakes change their locomotion patterns in response to the environment. This ability is a motivation for developing snake-like robots with highly adaptive functionality. In this study, decentralised control scheme of that exhibited autonomous gait transition (i.e. between concertina narrow aisles and scaffold-based on unstructured terrains) was developed. Additionally, validated via simulations. A key insight revealed these were not preprogrammed but emerged by exploiting Tegotae, concept...

Conventional AI technology has been criticized on many grounds such as brittleness under dynamically changing environments. To overcome this problem, other approaches called new AI, emergent computation, animat approach, behavior-based and so were proposed confirmed their usefulness. On the hand, biological information processing systems have interesting functions are expected to provide various feasible ideas engineering fields, especially robotics. Immune system plays important roles...

A systematic method for an autonomous decentralized control system is still lacking, despite its appealing concept. In order to alleviate this, we focused on the amoeboid locomotion of true slime mold, and extracted a design scheme mechanism that leads adaptive behavior entire system, based so-called discrepancy function. this paper, intensively investigate universality by applying it different type 'synthetic approach'. As first step, implement real physical two-dimensional serpentine robot...

Most robots are designed to work in predefined environments, and irregularities that exist the environment interfere with their operation. For snakes, play opposite role: snakes actively utilize terrain move by effectively pushing body against scaffolds they encounter. Autonomous decentralized control mechanisms could be key understanding this locomotion. We demonstrate through modelling simulations only two local reflexive mechanisms, which exploit sensory information about stretching of...

A major challenge in robotic design is enabling robots to immediately adapt unexpected physical damage. However, conventional require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star-a primitive creature with expendable body parts. Brittle stars, most which have five flexible arms, occasionally lose some them and promptly coordinate remaining arms escape from...

Abstract Amphibious animals adapt their body coordination to compensate for changing substrate properties as they transition between terrestrial and aquatic environments. Using behavioural experiments mathematical modelling of the amphibious centipede Scolopendra subspinipes mutilans , we reveal an interplay descending command (brain), local pattern generation, sensory feedback that controls leg motion during swimming walking. The elongated segmented exhibits a gradual in locomotor patterns...

Recently, systems such as chemical and nuclear plant have been increasing in scale complexity. In these systems, when a certain device (unit) system becomes faulty, its influence propagates through the whole system, then causes fatal situation. To construct safety reliability of necessity for an efficient fault diagnosis technique is increasingly demanded. On other hand, biological human beings can be said to ultimate information processing are expected provide feasible ideas engineering...

To date, various methods using the concept of neural circuit or so-called central pattern generators (CPGs) have been proposed to create agile locomotion for legged robots. In contrast these approaches, in this article we propose a polymorphic that allows dynamic change its properties according current situation real time be employed instead. end, neuromodulation is introduced. verify feasibility approach, applied control three-dimensional biped robot intrinsically unstable. The importance...

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...