Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking.

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 simulatio

SUBMITTER: Owaki D 

PROVIDER: S-EPMC8149599 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature