A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion.

ABSTRACT: Walking animals demonstrate impressive self-organized locomotion and adaptation to body property changes by skillfully manipulating their complicated and redundant musculoskeletal systems. Adaptive interlimb coordination plays a crucial role in this achievement. It has been identified that interlimb coordination is generated through dynamical interactions between the neural system, musculoskeletal system, and environment. Based on this principle, two classical interlimb coordination mechanisms (continuous phase modulation and phase resetting) have been proposed independently. These mechanisms use decoupled central pattern generators (CPGs) with sensory feedback, such as ground reaction forces (GRFs), to generate robot locomotion autonomously without predefining it (i.e., self-organized loc

SUBMITTER: Sun T 

PROVIDER: S-EPMC8072274 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature