ArticleFrontiers in neurorobotics2020
Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk.
Article in Frontiers in neurorobotics, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Bionic Multi-Legged Robots with Flexible Bodies: Design, Motion, and Control.Biomimetics (Basel, Switzerland) · 2024Review
- Bio-inspired neural networks for decision-making mechanisms and neuromodulation for motor control in a differential robot.Frontiers in neurorobotics · 2023Article
- Control of Mammalian Locomotion by Somatosensory Feedback.Comprehensive Physiology · 2021Article
- Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms.Frontiers in neurorobotics · 2021Article
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Authors and funding
4 authors.
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Abstract
Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body-limb coordination. This study aims to understand the sensorimotor control underlying body-limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body-limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body-limb coordination and provides a robust, sensory-driven control principle for quadruped robots.
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