Robust and reusable self-organized locomotion of legged robots under adaptive physical and neural communications.

ABSTRACT:

Introduction

Animals such as cattle can achieve versatile and elegant behaviors through automatic sensorimotor coordination. Their self-organized movements convey an impression of adaptability, robustness, and motor memory. However, the adaptive mechanisms underlying such natural abilities of these animals have not been completely realized in artificial legged systems.

Methods

Hence, we propose adaptive neural control that can mimic these abilities through adaptive physical and neural communications. The control algorithm consists of distributed local central pattern generator (CPG)-based neural circuits for generating basic leg movements, an adaptive sensory feedback mechanism for generating self-organized phase relationships among the local CPG circuits, and an adaptive ne

SUBMITTER: Sun T 

PROVIDER: S-EPMC10102392 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature