“TEGOTAE”-Based Control of Bipedal Walking

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9793)


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.


Bipedal walking TEGOTAE Plantar sensation Central pattern generator (CPG) 



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).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Research Institute of Electrical CommunicationTohoku UniversitySendaiJapan
  2. 2.Yamaguchi UniversityYamaguchiJapan
  3. 3.CRESTJapan Science and Technology AgencyKawaguchiJapan

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