CPG modulation for navigation and omnidirectional quadruped locomotion |
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| Authors: | Cristina P Santos Vítor Matos |
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| Affiliation: | 1. Department of Pharmacology, Nihon University School of Dentistry, 1-8-13 Kanda-Surugadai, Chiyoda-ku, Tokyo 101-8310, Japan;2. Department of Pathophysiology and Therapeutics, Hoshi University School of Pharmacy and Pharmaceutical Sciences, 2-4-41 Ebara, Shinagawa-ku, Tokyo 142-8501, Japan;3. Division of Oral and Craniomaxillofacial Research, Dental Research Center, Nihon University School of Dentistry, 1-8-13 Kanda-Surugadai, Chiyoda-ku, Tokyo 101-8310, Japan;4. Radboud University Medical Centre Nijmegen, Donders Institute for Brain, Cognition and Behavior: Psychoneuropharmacology, P.O. Box 9101, 6500 HB Nijmegen, The Netherlands;1. The University of Texas at Dallas, Texas Biomedical Device Center, 800 West Campbell Road, Richardson, TX 75080-3021, United States;2. The University of Texas at Dallas, School of Behavioral Brain Sciences, 800 West Campbell Road, GR41, Richardson, TX 75080-3021, United States;3. Vulintus Inc., 17217 Waterview Pkwy, Ste 1.202BB, Dallas, TX 75252, United States;4. The University of Texas at Dallas, Erik Jonsson School of Engineering and Computer Science, 800 West Campbell Road, Richardson, TX 75080-3021, United States;5. Burke Medical Research Institute, 785 Mamaroneck Avenue, White Plains, NY 10605, United States;6. Weill Cornell Medical College, Brain Mind Research Institute and Departments of Neurology and Pediatrics, United States;1. Institute of Systematic Zoology and Evolutionary Biology, Friedrich-Schiller-University Jena, Erbertstraße 1, D-07743 Jena, Germany;2. Group of Biomechatronics, Ilmenau University of Technology, P.O. Box 10 05 65, D-98684 Ilmenau, Germany;3. Group of Mechanical Engineering, Ilmenau University of Technology, P.O. Box 10 05 65, D-98684 Ilmenau, Germany;1. Institute of Systematic Zoology and Evolutionary Biology with Phyletic Museum, Friedrich-Schiller-University Jena, Erbertstraße 1, 07743, Jena, Germany;2. Department of Biomechatronics, Ilmenau University of Technology, P.O. Box 10 05 65, 98684, Ilmenau, Germany |
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| Abstract: | Navigation in biological mechanisms represents a set of skills needed for the survival of individuals, including target acquisition and obstacle avoidance.In this article, we focus on the development of a quadruped locomotion controller able to generate omnidirectional locomotion and a path planning controller for heading direction. The heading direction controller is able to adapt to sensory-motor visual feedback, and online adapt its trajectory according to visual information that modifies the control parameters. This allows for integration of sensory-motor feedback and closed-loop control. This issue is crucial for autonomous and adaptive control, and has received little attention so far. This modeling is based on the concept of dynamical systems.We present experiments performed on a real AIBO platform. The obtained results demonstrate both the adequacy of the proposed locomotor controller to generate the required trajectories and to generate the desired movement in terms of the walking velocity, orientation and angular velocity. Further, the controller is demonstrated on a simulated quadruped robot which walks towards a visually acquired target while avoiding online-visually detected obstacles in its path. |
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