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Emergent Locomotion Patterns from A Quadruped Pneumatic Musculoskeletal Robot with Spinobulbar Model
| Content Provider | Semantic Scholar |
|---|---|
| Author | Yamada, Yasunori Nishikawa, Satoshi Shida, Kazuya Kuniyoshi, Yasuo |
| Copyright Year | 2011 |
| Abstract | Evolutionary processes shape the animal’s morphology and nervous system to adapt themselves mutually from each others and to achieve one efficient sensorimotor integration within the environment. As a result, various complex behaviors marked by energy consumption efficiency as well as self-organization can emerge from the dynamical interaction between the body, the neural system and the environment. Those skills are possible because the neural system exploits the physics of the body on the one hand, while on the other hand the body dynamics structure the neural dynamics via sensory stimuli. This constitutes a fundamental property of embodied intelligence [1][2][3]. In recent years, many researches have been developed to understand better the mechanisms underlying the animal’s locomotor skills and how to apply them in robots [4][5]. Moreover, particular attention has been focused on central pattern generator (CPG) to replicate animal locomotion in biologically-inspired robots [6]. For instance, the dog-like Tekken series [7] can realize stable locomotion using sensory feedback whereas the insect-like AMOS-WD06 [8] can generate various complex behaviors by exploiting the chaotic properties of CPG models. However, these robots achieve locomotion without exploiting readily the physics of the body because the body is either too rigid or controlled linearly by electromagnetic motors. In contrast, animal’s musculoskeletal system is constituted of a complex and redundant structural morphology with nonlinear materials for the visco-elastic muscle-tendon tissues [9]. Few studies have focused on the study on both the nervous system and their body [10][11][12]. For this reason, we propose to investigate this issue in a quadruped robot and how the neural system along the body dynamics interact each others in order to generate various and adaptive behavioral motions. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.isi.imi.i.u-tokyo.ac.jp/~nisikawa/pdf/Bionic2011_yamada.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
