Paper Info
Title
Multiple Decoupled CPGs with Local Sensory Feedback for Adaptive Locomotion Behaviors of Bio-inspired Walking Robots.
Abstract
Walking animals show versatile locomotion. They can also adapt their movement according to the changes of their morphology and the environmental conditions. These emergent properties are realized by biomechanics, distributed central pattern generators (CPGs), local sensory feedback, and their interactions during body and leg movements through the environment. Based on this concept, we present here an artificial bio-inspired walking system. Its intralimb coordination is formed by multiple decoupled CPGs while its interlimb coordination is attained by the interactions between body dynamics and the environment through local sensory feedback of each leg. Simulation results show that this bio-inspired approach generates self-organizing emergent locomotion allowing the robot to adaptively form regular patterns, to stably walk while pushing an object with its front legs or performing multiple stepping of the front legs, to deal with morphological change, and to synchronize its movement with another robot during a collaborative task.
Year
DOI
Venue
2014
10.1007/978-3-319-08864-8_7
Lecture Notes in Artificial Intelligence
Keywords
Field
DocType
Adaptive behavior,Hexapod locomotion,Brain-body-environment interaction,Autonomous robots,Neural networks
Synchronization,Computer science,Artificial intelligence,Biomechanics,Sensory system,Central pattern generator,Artificial neural network,Robot,Adaptive behavior
Conference
Volume
ISSN
Citations 
8575
0302-9743
7
PageRank 
References 
Authors
0.56
3
3
Name
Order
Citations
PageRank
Subhi Shaker Barikhan170.56
Florentin Wörgötter21304119.30
Poramate Manoonpong322631.35