Switching Adaptability in Human-Inspired Sidesteps: A Minimal Model.

ABSTRACT: Humans can adapt to abruptly changing situations by coordinating redundant components, even in bipedality. Conventional adaptability has been reproduced by various computational approaches, such as optimal control, neural oscillator, and reinforcement learning; however, the adaptability in bipedal locomotion necessary for biological and social activities, such as unpredicted direction change in chase-and-escape, is unknown due to the dynamically unstable multi-link closed-loop system. Here we propose a switching adaptation model for performing bipedal locomotion by improving autonomous distributed control, where autonomous actuators interact without central control and switch the roles for propulsion, balancing, and leg swing. Our switching mobility model achieved direction change at any t

SUBMITTER: Fujii K 

PROVIDER: S-EPMC5461270 | biostudies-literature | 2017

REPOSITORIES: biostudies-literature