Neural-body coupling for emergent locomotion: A musculoskeletal quadruped robot with spinobulbar model

Yasunori Yamada, Satoshi Nishikawa, Kazuya Shida, Ryuma Niiyama, Yasuo Kuniyoshi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

32 被引用数 (Scopus)

抄録

To gain a synthetic understanding of how the body and nervous system co-create animal locomotion, we propose an investigation into a quadruped musculoskeletal robot with biologically realistic morphology and a nervous system. The muscle configuration and sensory feedback of our robot are compatible with the mono- and bi-articular muscles of a quadruped animal and with its muscle spindles and Golgi tendon organs. The nervous system is designed with a biologically plausible model of the spinobulbar system with no pre-defined gait patterns such that mutual entrainment is dynamically created by exploiting the physics of the body. In computer simulations, we found that designing the body and the nervous system of the robot with the characteristics of biological systems increases information regularities in sensorimotor flows by generating complex and coordinated motor patterns. Furthermore, we found similar results in robot experiments with the generation of various coordinated locomotion patterns created in a self-organized manner. Our results demonstrate that the dynamical interaction between the physics of the body with the neural dynamics can shape behavioral patterns for adaptive locomotion in an autonomous fashion.

本文言語英語
ホスト出版物のタイトルIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルCelebrating 50 Years of Robotics
ページ1499-1506
ページ数8
DOI
出版ステータス出版済み - 2011
外部発表はい
イベント2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, 米国
継続期間: 9月 25 20119月 30 2011

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

その他

その他2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
国/地域米国
CitySan Francisco, CA
Period9/25/119/30/11

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

フィンガープリント

「Neural-body coupling for emergent locomotion: A musculoskeletal quadruped robot with spinobulbar model」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル