ArticleFrontiers in neurorobotics2020
Small-Sized Reconfigurable Quadruped Robot With Multiple Sensory Feedback for Studying Adaptive and Versatile Behaviors.
Article in Frontiers in neurorobotics, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. An erratum has been issued. Cited by 6 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
6 citing papers in PubMed, 28 citations in OpenAlex.
- An Efficient Closed-Loop Adaptive Controller for a Small-Sized Quadruped Robotic Rat.Cyborg and bionic systems (Washington, D.C.) · 2024Article
- Robust and reusable self-organized locomotion of legged robots under adaptive physical and neural communications.Frontiers in neural circuits · 2023Article
- Insect-Inspired Robots: Bridging Biological and Artificial Systems.Sensors (Basel, Switzerland) · 2021Review
- A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion.Frontiers in robotics and AI · 2021Article
- Echo State Networks for Estimating Exteroceptive Conditions From Proprioceptive States in Quadruped Robots.Frontiers in neurorobotics · 2021Article
- General Distributed Neural Control and Sensory Adaptation for Self-Organized Locomotion and Fast Adaptation to Damage of Walking Robots.Frontiers in neural circuits · 2020Article
Corrections and comments
- Erratum issued
Authors and funding
4 authors at 3 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Self-organization of locomotion characterizes the feature of automatically spontaneous gait generation without preprogrammed limb movement coordination. To study this feature in quadruped locomotion, we propose here a new open-source, small-sized reconfigurable quadruped robot, called Lilibot, with multiple sensory feedback and its physical simulation. Lilibot was designed as a friendly quadrupedal platform with unique characteristics, including light weight, easy handling, modular components, and multiple real-time sensory feedback. Its modular components can be flexibly reconfigured to obtain features, such as different leg orientations for testing the effectiveness and generalization of self-organized locomotion control. Its multiple sensory feedback (i.e., joint angles, joint velocities, joint currents, joint voltages, and body inclination) can support vestibular reflexes and compliant control mechanisms for body posture stabilization and compliant behavior, respectively. To evaluate the performance of Lilibot, we implemented our developed adaptive neural controller on it. The experimental results demonstrated that Lilibot can autonomously and rapidly exhibit adaptive and versatile behaviors, including spontaneous self-organized locomotion (i.e., adaptive locomotion) under different leg orientations, body posture stabilization on a tiltable plane, and leg compliance for unexpected external load compensation. To this end, we successfully developed an open-source, friendly, small-sized, and lightweight quadruped robot with reconfigurable legs and multiple sensory feedback that can serve as a generic quadrupedal platform for research and education in the fields of locomotion, vestibular reflex-based, and compliant control.
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Registered trials
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.