Towards a general neural controller for quadrupedal locomotion

Neural Networks

Volumn 21, Issue 4, 2008, Pages 667-681

  Maufroy, Christophe ^a   Kimura, Hiroshi ^b   Takase, Kunikatsu ^a  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

^b KYOTO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Computational simulation; CPG; Neural controller; Posture; Quadruped; Rhythmic motion

Indexed keywords

MATHEMATICAL MODELS; NEURAL NETWORKS; ROBOTS; SENSORY FEEDBACK;

QUADRUPEDAL LOCOMOTION CONTROLLER; RHYTHMIC MOTION;

MOTION CONTROL;

ARTICLE; BODY POSTURE; FEEDBACK SYSTEM; GAIT; HINDLIMB; KINEMATICS; LOCOMOTION; MATHEMATICAL COMPUTING; MATHEMATICAL MODEL; PRIORITY JOURNAL; RUNNING; SIMULATION; SPINE; WALKING;

ANIMALS; BIOMECHANICS; CATS; COMPUTER SIMULATION; HINDLIMB; LOCOMOTION; MUSCLE CONTRACTION; MUSCLE, SKELETAL; NEURAL NETWORKS (COMPUTER); ROBOTICS; SKELETON; WALKING;

EID: 44949146060     PISSN: 08936080     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.neunet.2008.03.010     Document Type: Article

References (44)

1. Alexander R.M. The gaits of bipedal and quadrupedal animals. International Journal of Robotics Research 6 3 (1984) 49-59
2. Aoi S., and Tsuchiya K. Locomotion control of a biped robot using nonlinear oscillators. Autonomous Robots 19 3 (2005) 219-232
3. Berns K., Ilg W., Deck M., Albiez J., and Dillmann R. Mechanical construction and computer architecture of the four legged walking machine BISAM. IEEE/ASM Transactions on Mechatronics 4 1 (1999) 32-38
4. Brown I., Scott S., and Loeb G. Mechanics of feline soleus: II Design and validation of a mathematical model. Journal of Muscle Research and Cell Motility 17 (1996) 221-233
5. Burrows M. The control of walking in orthoptera. I: Leg movements in normal walking. Journal of Experimental Biology 58 (1996) 45-58
6. Cruse H. What mechanism coordinate leg movement in walking arthropods?. Trends in Neurosciences 12 (1990) 15-21
7. Cruse H. The functional sense of central oscillatioins in walking. Biological Cybernetics 86 (2002) 271-280
8. Deliagina T., and Orlovsky G. Comparative neurobiology of postural control. Current Opinion in Neurobiology 12 (2002) 652-657
9. Duysens J., and Pearson K.G. Inhibition of flexor burst generation by loading ankle extensor muscles in walking cats. Brain Research 187 (1980) 321-332
10. Ekeberg O. A combined neuronal and mechanical model of fish swimming. Biological Cybernetics 69 (1993) 363-374
11. Ekeberg O., and Pearson K. Computer simulation of stepping in the hind legs of the cat: An examination of mechanisms regulating the stance-to-swing transition. Journal of Neurophysiology 94 6 (2005) 4256-4268
12. Espenschied K.S., Quinn R.D., Beer R.D., and Chiel H.J. Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot. Robotics and Autonomous Systems 18 (1996) 59-64
13. Fischer M. Locomotory organs of Mammals: New mechanics and feed-back pathway but conservative central control. Zoology 103 (2001) 230-239
14. Forssberg H., Grillner S., and Rossignol S. Phasic gain control of reflexes from the dorsum of the paw during spinal locomotion. Brain Research 132 (1977) 121-139
15. Fukuoka Y., Kimura H., and Cohen A.H. Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts. International Journal of Robotics Research 22 3-4 (2003) 187-202
16. Geyer H., Seyfarth A., and Blickhan R. Positive force feedback in bouncing gait. Proceedings of the Royal Society B 270 1529 (2003) 2173-2183
17. Grillner S., and Rossignol S. On the initiation of the swing phase of locomotion in chronic spinal cats. Brain Research 146 (1978) 269-277
18. Grillner S., and Zangger P. Locomotor movements generated by the deafferented spinal cord. Acta Physiologica Scandinavia 91 (1974) 38A-39A
19. Halbertsma J.M. The stride cycle of the cat: The modelling of locomotion by computerized analysis of automatic recordings. Acta Physiologica Scandinavia, Suppl. 521 (1983) 1-75
20. Hiebert G., Gorassini M., Jiang W., Prochazka A., and Pearson K. Corrective responses to loss of ground support during walking II, comparison of intact and chronic spinal cats. Journal of Neurophysiology 71 (1994) 611-622
21. Ijspeert A.J. A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander. Biological Cybernetics 84 5 (2001) 331-348
22. Ijspeert A.J., Crespi A., Ryczko D., and Cabelguen J.M. From swimming to walking with a salamander robot driven by a spinal cord model. Science 315 5817 (2007) 1416-1420
23. Lewis M.A., Etienne-Cummings R., Hartmann M.J., Xu Z.R., and Cohen A.H. An in silico central pattern generator: Silicon oscillator, coupling, entrainment, and physical computation. Biological Cybernetics 88 (2003) 137-151
24. Kimura H., Akiyama S., and Sakurama K. Realization of dynamic walking and running of the quadruped using neural oscillator. Autonmous Robots 7 3 (1999) 247-258
25. Kimura H., Fukuoka Y., and Cohen A.H. Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts. International Journal of Robotics Research 26 5 (2007) 475-490
26. Miura H., and Shimoyama I. Dynamical walk of biped locomotion. International Journal of Robotics Research 3 2 (1984) 60-74
27. Miyakoshi, S., Taga, G., Kuniyoshi, Y., & Nagakubo, A. (1998). Three dimensional bipedal stepping motion using neural oscillators - Towards humanoid motion in the real world. In Proc. of IROS98 int. conf. on intelligent robots and systems (pp. 84-89)
28. Nakanishi J., Morimoto J., Endo G., Cheng G., Schaal S., and Kawato M. Learning from demonstration and adaptation of biped locomotion. Robotics and Autonomous Systems 47 (2004) 79-91
29. Ogihara N., and Yamazaki N. Generation of human bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model. Biological Cybernetics 84 (2001) 1-11
30. Ogihara, N., Aoi, S., Sugimoto, Y., Nakatsukasa, M., & Tsuchiya, K. (2006). Exploration of locomotory mechanism in the Japanese monkey based on an anatomically-based musculoskeletal model. Tech. report of IEICE, 106 (330) (pp. 33-36)
31. Ono K., Furuichi T., and Takahasi R. Self-excited walking of a biped mechanism with feet. International Journal of Robotics Research 23 1 (2004) 55-68
32. Pearson K.G., and Franklin R. Characteristics of leg movements and patterns of coordination in locusts walking on rough terrain. International Journal of Robotics Research 1 3 (1984) 101-112
33. Poulakakis I., Smith J.A., and Buehler M. On the dynamics of bounding and extensions towards the half-bound and the gallop gaits. In: Kimura H., et al. (Ed). Adaptive motion of animals and machines (2006), Springer 77-86
34. Prochazka A., and Yakovenko S. Locomotor control: From spring-like reactions of muscles to neural prediction. In: Nelson R.J. (Ed). The somatosensory system: Deciphering the brain's own body image (2002), CRC Press, Boca Raton 141-181
35. Rossignol S. Neural control of stereoscopic leg movements. In: Rowell L.B., and Sheperd J.T. (Eds). Handbook of physiology - exercise regulation and integration of multiple systems (1996), Oxford University Press, Baltimore 173-216
36. Shik M.L., Orlovsky G.N., and Severin F.V. Organization of locomotor synergy. Biophysics 11 (1966) 879-886
37. Taga G. A model of the neuro-musculo-skeletal system for human locomotion II. - Real-time adaptability under various constraints. Biological Cybernetics 73 (1995) 113-121
38. Taga G., Yamaguchi Y., and Shimizu H. Self-organized control of bipedal locomotion by neural oscillators. Biological Cybernetics 65 (1991) 147-159
39. Takanishi, A., Takeya, T., Karaki, H., & Kato, I. (1990). A control method for dynamic bipedwalking under unknown external force. In Proc. IRSO1990 (pp. 795-801)
40. Tomita, N., & Yano, M. (2003). A model of learning free bipedal walking in indefinite environment - constraints self-emergence/self-satisfaction paradigm -. In Proc. of SICE annual conf. (pp. 3176-3181)
41. Tsujita K., Tsuchiya K., and Onat A. Decentralized autonomous control of a quadruped locomotion robot using oscillators. Artificial life and robotics Vol. 5 (2003), Springer 152-158
42. Wadden T., and Ekeberg O. A neuro-mechanical model of legged locomotion: Single leg control. Biological Cybernetics 79 (1998) 161-173
43. Yakovenko S., Gritsenko V., and Prochazka A. Contribution of stretch reflexes to locomotor control: A modeling study. Biological Cybernetics 90 (2004) 146-155
44. Yoneda, K., Iiyama, H., & Hirose, S. (1994). Sky-hook suspension control of a quadruped walking vehicle. In Proc. ICRA1994 (pp. 999-1004)