Advertisement

“TEGOTAE”-Based Control of Bipedal Walking

  • Dai Owaki
  • Shun-ya Horikiri
  • Jun Nishii
  • Akio Ishiguro
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9793)

Abstract

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.

Keywords

Bipedal walking TEGOTAE Plantar sensation Central pattern generator (CPG) 

Notes

Acknowledgements

We acknowledge the support of a JSPS KAKENHI Grant-in-Aid for Young Scientists (A) (25709033) and Grant-in-Aid for Scientific Research on Innovative Areas “Understanding brain plasticity on body representations to promote their adaptive functions” (26120008).

References

  1. 1.
    Shik, M.L., Severin, F.V., Orlovskii, G.N.: Control of walking and running by means of electrical stimulation of the mesencephalon. Electroencephalogr. Clin. Neurophysiol. 26, 549 (1969)Google Scholar
  2. 2.
    Grillner, S.: Neurobiological bases of rhythmic motor acts in vertebrates. Science 228, 143–149 (1985)CrossRefGoogle Scholar
  3. 3.
    Taga, G., Yamaguchi, Y., Shimizu, H.: Self-organized control of bipedal locomotion by neural oscillators. Biol. Cybern. 65, 147–159 (1991)CrossRefzbMATHGoogle Scholar
  4. 4.
    Kimura, H., Akiyama, S., Sakurama, K.: Realization of dynamic walking and running of the quadruped using neural oscillator. Auton. Robots 7, 247–258 (1999)CrossRefGoogle Scholar
  5. 5.
    Aoi, S., Tsuchiya, K.: Locomotion control of a biped robot using nonlinear oscillators. Auton. Robots 19, 219–232 (2005)CrossRefGoogle Scholar
  6. 6.
    Righetti, L., Ijspeert, A.J.: Pattern generators with sensory feedback for the control of quadruped locomotion. In: Proceedings of ICRA 2008, pp. 819–824 (2008)Google Scholar
  7. 7.
    Duysens, J., Clarac, F., Cruse, H.: Load-regulating mechanisms in gait and posture: comparative aspects. Physiol. Rev. 80, 83–133 (2000)Google Scholar
  8. 8.
    Dietz, V., Duysens, J.: Significance of load receptor input during locomotion: a review. Gait Posture 11, 102–110 (2000)CrossRefGoogle Scholar
  9. 9.
    Elis, E., Behrens, S., Mers, O., Thorwesten, L., Völker, K., Rosenbaum, D.: Reduced plantar sensation causes a cautious walking pattern. Gait Posture 20, 54–60 (2004)CrossRefGoogle Scholar
  10. 10.
    Perry, J., Burnfield, J.: Gait Analysis: Normal and Pathological Function, 2nd edn. Slack Inc., Thorofare (2010)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Dai Owaki
    • 1
  • Shun-ya Horikiri
    • 1
  • Jun Nishii
    • 2
  • Akio Ishiguro
    • 1
    • 3
  1. 1.Research Institute of Electrical CommunicationTohoku UniversitySendaiJapan
  2. 2.Yamaguchi UniversityYamaguchiJapan
  3. 3.CRESTJapan Science and Technology AgencyKawaguchiJapan

Personalised recommendations