“TEGOTAE”-Based Control of Bipedal Walking

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• 关键词：Bipedal walking ; TEGOTAE ; Plantar sensation ; Central pattern generator (CPG)
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9793
• 期：1
• 页码：472-479
• 全文大小：1,757 KB
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• 作者单位：Dai Owaki (19)
  Shun-ya Horikiri (19)
  Jun Nishii (20)
  Akio Ishiguro (19) (21)
  
  19. Research Institute of Electrical Communication, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai, 980-8577, Japan
  20. Yamaguchi University, 1677-1 Yoshida, Yamaguchi, 753-8512, Japan
  21. CREST, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, 332-0012, Saitama, Japan
  
• 丛书名：Biomimetic and Biohybrid Systems
• ISBN：978-3-319-42417-0
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9793

文摘

Despite the appealing concept of “central pattern generator” (CPG)-based control for bipedal walking, there is currently no systematic methodology for designing a CPG controller. To tackle this problem, we employ a unique approach: We attempt to design local controllers in the CPG model for bipedal walking based on the viewpoint of “TEGOTAE”, which is a Japanese concept describing how well a perceived reaction matches an expectation. To this end, we introduce a TEGOTAE function that quantitatively measures TEGOTAE. Using this function, we can design decentralized controllers in a systematic manner. We designed a two-dimensional bipedal walking model using TEGOTAE functions and constructed simulations using the model to verify the validity of the proposed design scheme. We found that our model can stably walk on flat terrain.