ArticleFrontiers in neurorobotics2021
Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking.
Article in Frontiers in neurorobotics, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- Robust and reusable self-organized locomotion of legged robots under adaptive physical and neural communications.Frontiers in neural circuits · 2023Article
- Harnessing Energy of a Treadmill for Push-Off Assistance During Walking:Frontiers in bioengineering and biotechnology · 2022Article
- Editorial: Biological and Robotic Inter-Limb Coordination.Frontiers in robotics and AI · 2022Article
- Contribution of Phase Resetting to Statistical Persistence in Stride Intervals: A Modeling Study.Frontiers in neural circuits · 2022Article
- Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback.Frontiers in robotics and AI · 2021Article
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Authors and funding
4 authors.
Funding
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Abstract
Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply the Tegotae approach, a Japanese concept describing how well a perceived reaction, i.e., sensory information, matches an expectation, i.e., an intended motor command, in designing localised controllers in the CPG-based bipedal walking model. To this end, we developed a Tegotae function that quantifies the Tegotae concept. This function allowed incorporating decentralised controllers into the proposed bipedal walking model systematically. We designed a two-dimensional bipedal walking model using Tegotae functions and subsequently implemented it in simulations to validate the proposed design scheme. We found that our model can walk on both flat and uneven terrains and confirmed that the application of the Tegotae functions in all joint controllers results in excellent adaptability to environmental changes.
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