ArticleFrontiers in neural circuits2013
Neural control and adaptive neural forward models for insect-like, energy-efficient, and adaptable locomotion of walking machines.
Article in Frontiers in neural circuits, 2013. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 28 papers.
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Who cites it
28 citing papers in PubMed, 171 citations in OpenAlex.
- Walking on Uneven Terrain with Hexapod Robots Having Underactuated Legs and Articulated Body.Biomimetics (Basel, Switzerland) · 2026Article
- Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control.Biomimetics (Basel, Switzerland) · 2024Review
- A Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs.Soft robotics · 2023Article
- neuroWalknet, a controller for hexapod walking allowing for context dependent behavior.PLoS computational biology · 2023Article
- Robust and reusable self-organized locomotion of legged robots under adaptive physical and neural communications.Frontiers in neural circuits · 2023Article
- A Neural Coordination Strategy for Attachment and Detachment of a Climbing Robot Inspired by Gecko Locomotion.Cyborg and bionic systems (Washington, D.C.) · 2023Article
- Insect-Inspired Robots: Bridging Biological and Artificial Systems.Sensors (Basel, Switzerland) · 2021Review
- State-space aerodynamic model reveals high force control authority and predictability in flapping flight.Journal of the Royal Society, Interface · 2021Article
- A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion.Frontiers in robotics and AI · 2021Article
- Locomotion Control With Frequency and Motor Pattern Adaptations.Frontiers in neural circuits · 2021Article
- Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback.Frontiers in robotics and AI · 2021Article
- Decentralized control of insect walking: A simple neural network explains a wide range of behavioral and neurophysiological results.PLoS computational biology · 2020Article
- General Distributed Neural Control and Sensory Adaptation for Self-Organized Locomotion and Fast Adaptation to Damage of Walking Robots.Frontiers in neural circuits · 2020Article
- Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk.Frontiers in neurorobotics · 2020Article
- Synchronization of Non-linear Oscillators for Neurobiologically Inspired Control on a Bionic Parallel Waist of Legged Robot.Frontiers in neurorobotics · 2019Article
- Lateral undulation of the flexible spine of sprawling posture vertebrates.Journal of comparative physiology. A, Neuroethology, sensory, neural, and behavioral physiology · 2018Review
- Simple analytical model reveals the functional role of embodied sensorimotor interaction in hexapod gaits.PloS one · 2018Article
- Feed-Forwardness of Spinal Networks in Posture and Locomotion.The Neuroscientist : a review journal bringing neurobiology, neurology and psychiatry · 2017Article
- A Minimal Model Describing Hexapedal Interlimb Coordination: The Tegotae-Based Approach.Frontiers in neurorobotics · 2017Article
- A Neurocomputational Model of Goal-Directed Navigation in Insect-Inspired Artificial Agents.Frontiers in neurorobotics · 2017Article
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Authors and funding
3 authors at 3 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs) and sensory feedback (afferent-based control) but also on internal forward models (efference copies). They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.