Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking

• DOI: 10.3389/fnbot.2021.629595
• Publication Date: 2021-05-12T04:47:21Z
• Authors: Dai Owaki; Shun-ya Horikiri; Jun Nishii; Akio Ishiguro
• Keywords: Adaptability; Motor Control

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 decentralised into proposed model systematically. We designed two-dimensional using functions and subsequently implemented it simulations validate design scheme. found our can walk on both flat uneven terrains confirmed application all joint results excellent adaptability environmental changes.