article

Realization of Dynamic Walking and Running of the Quadruped Using Neural Oscillator

Authors:

Hiroshi Kimura,

Seiichi Akiyama,

Kazuaki SakuramaAuthors Info & Claims

Autonomous Robots, Volume 7, Issue 3

Pages 247 - 258

https://doi.org/10.1023/A:1008924521542

Published: 01 November 1999 Publication History

Abstract

In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on flat terrain by using a nervous system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch reflex and a flexor reflex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the flexor reflex and the crossed extension reflex. A modification of the single driving input to the neural oscillator network makes it possible for the robot to walk up a step. For running on flat terrain, we combine a spring mechanism and the neural oscillator network. It became clear in this study that the matching of two oscillations by the spring-mass system and the neural oscillator network is important in order to keep jumping in a pronk gait. The present study also shows that entrainment between neural oscillators causes the running gait to change from pronk to bound. This finding renders running fairly easy to attain in a bound gait. It must be noticed that the flexible and robust dynamic walking on irregular terrain and the transition of the running gait are realized by the modification of a few parameters in the neural oscillator network.

References

[1]

Akiyama, S. and Kimura, H. 1995. Dynamic quadruped walk using neural oscillators--realization of pace and trot--. In Proc. of 13th Annual Conf. of RSJ, pp. 227-228.

[2]

Bachanam, J. T. and Grillner, S. 1987. Newly identified glutamate interneurons and their role in locomotion in lamprey spinal cord. Science, 236: 312-314.

[3]

Beer, R. D., Chiel, H. J., and Sterling, L. S. 1991. An artificial insect. American Scientist, 79: 444-452.

[4]

Buehler, M., Battaglia, R., Cocosco, A., Hawker, G., Sarkis, J., and Yamazaki, K. 1998. Scout: A simple quadruped that walks, climbs and runs. In Proc. of ICRA98, pp. 1707-1712.

[5]

Collins, J. J. and Richmond, S. A. 1994. Hard-wired central pattern generators for quadrupedal locomotion. Biological Cybernetics, 71: 375-385.

[6]

Collins, J. J. and Stewart, I. N. 1992. Symmetry-breaking bifurcation: A possible mechanism for 2:1 frequency-locking in animal locomotion. Journal of Mathematical Biology, 30: 827-838.

[7]

Collins, J. J. and Stewart, I. N. 1993. Coupled nonlinear oscillators and the symmetries of animal gaits. Journal of Nonlinear Science, 3: 349-392.

[8]

Drew, T., Jiang, W., Kably, B., and Lavoie, S. 1996. Role of the motor cortex in the control of visually triggered gait modifications. Can. Journal of Physiol. Pharmacol., 74: 426-442.

[9]

Fukuoka, Y., Nakamura, H., and Kimura, H. 1999. Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain. In Proc. of IROS99, accepted.

[10]

Furusho, J., Sano, A., Sakaguchi, M., and Koizumi, E. 1995. Realization of bounce gait in a quadruped robot with articular-joint-type legs. In Proc. of ICRA95, pp. 697-702.

[11]

Grillner, S. 1981. Control of locomotion in bipeds, tetrapods and fish. In Handbook of Physiology, American Physiological Society: Bethesda, MD, vol. II, pp. 1179-1236.

[12]

Hiebert, G., Gorassini, M., Jiang, W., Prochazka, A., and Pearson, K. 1994. Corrective responses to loss of ground support during walking II, comparison of intact and chronic spinal cats. Journal of Neurophys., 71: 611-622.

[13]

Ijspeert, A. J., Hallman, J., and Willshaw, D. 1998. From lampreys to salamanders: Evolving neural controllers for swimming and walking. In Proc. of SAB98, pp. 390-399.

Digital Library

[14]

Ilg, W., Albiez, J., Jedele, H., Berns, K., and Dillmann, R. 1999. Adaptive periodic movement control for the four legged walking machine BISAM. In Proc. of ICRA99, pp. 2354-2359.

[15]

Kajita, S. and Tani, K. 1996. Control of dynamic biped locomotion based on realtime sensing of the ground profile. Journal of RSJ, 14(7): 1062-1069.

[16]

Katoh, R. and Mori, M. 1984. Control method of biped locomotion giving asymptotic stability of trajectory. Automatica, 20(4): 405- 411.

Digital Library

[17]

Kimura, H., Shimoyama, I., and Miura, H. 1990. Dynamics in the dynamic walk of a quadruped robot. RSJ. Advanced Robotics, 4(3): 283-301.

[18]

Lewis, M. A. 1996. Self-organization of locomotory controllers in robots and animals, Ph.D. Dissertation, Electrical Eng., Univ. of Southern California.

Digital Library

[19]

Matsuoka, K. 1987. Mechanisms of frequency and pattern control in the neural rhythm generators. Biological Cybernetics, 56: 345- 353.

Digital Library

[20]

Miura, H. and Shimoyama, I. 1984. Dynamical walk of biped locomotion. Int. Journal of Robotics Research, 3(2): 60-74.

[21]

Miyakoshi, S., Taga, G., Kuniyoshi, Y., and Nagakubo, A. 1998. Three dimensional bipedal stepping motion using neural oscillators--towards humanoid motion in the real world. In Proc. of IROS98, pp. 84-89.

[22]

Raibert, M. H. 1986. Legged Robots That Balance, The MIT Press: Cambridge, MA.

Digital Library

[23]

Shik, M. L. and Orlovsky, G. N. 1976. Neurophysiology of locomotor automatism. Physiol. Review, 56: 465-501.

[24]

Stent, G. S., Kristan, W. B. Jr., Friesen, W. D., Ort, C. A. A., Poon, M., and Carabrese, R. L. 1978. Neuronal generation of the leech swimming movement. Science, 200: 1348-1357.

[25]

Taga, G. 1995. A model of the neuro-musculo-skeletal system for human locomotion II. Real-time adaptability under various constraints. Biological Cybernetics, 73: 113-121.

Digital Library

[26]

Taga, G., Yamaguchi, Y., and SHimizu, H. 1991. Self-organized control of bipedal locomotion by neural oscillators. Biological Cybernetics, 65: 147-159.

Digital Library

[27]

Yamaguchi, J., Takanishi, A., and Kato, I. 1994. Development of a biped walking robot adapting to a horizontally uneven surface. In Proc. of IROS95, pp. 1030-1037.

[28]

Yoneda, K. 1987. The development of biped walking robot for HC-plane. In Proc. of 5th Annual Conf. of RSJ, pp. 585-586.

[29]

Yoneda, K., Iiyama, H., and Hirose, S. 1994. Sky-hook suspension control of a quadruped walking vehicle. In Proc. of ICRA94, pp. 999-1004.

[30]

Yuasa, H. and Ito, M. 1990. Coordination of many oscillators and generation of locomotory patterns. Biological Cybernetics, 63: 177-184.

Digital Library

Cited By

Jianyuan WSiyu LJinbao C(2024)A CPG-based gait planning method for bipedal robotsArtificial Life and Robotics10.1007/s10015-024-00947-629:2(340-348)Online publication date: 1-May-2024
https://dl.acm.org/doi/10.1007/s10015-024-00947-6
Che WForni F(2021)Shaping oscillations via mixed feedback2021 60th IEEE Conference on Decision and Control (CDC)10.1109/CDC45484.2021.9683238(4602-4608)Online publication date: 14-Dec-2021
https://dl.acm.org/doi/10.1109/CDC45484.2021.9683238
Hayakawa MTakeda KIshibashi MTanami KAibara MKaneko MSaito KUchikoba F(2021)Pulse-type hardware neural network mimicking spinal cord functionArtificial Life and Robotics10.1007/s10015-021-00691-126:4(450-456)Online publication date: 1-Nov-2021
https://dl.acm.org/doi/10.1007/s10015-021-00691-1
Show More Cited By

Recommendations

Gait pattern changing of quadruped robot using pulse-type hardware neural networks

This paper studied about gait pattern changing of the constructed quadruped robot system using pulse-type hardware neural networks (P-HNN). We constructed the 20 cm in size prototype quadruped robot system. Quadruped robot system consisted of mechanical ...
Omnidirectional static walking of a quadruped robot

In this paper, we propose a successive gait-transition method for a quadruped robot to realize omnidirectional static walking. The gait transition is successively performed among the crawl gaits and the rotation gaits, while the feet hold in common ...
Dynamic locomotion of a biomorphic quadruped 'Tekken' robot using various gaits: walk, trot, free-gait and bound

Numerous quadruped walking and running robots have been developed to date. Each robot walks by means of a crawl, walk, trot or pace gait, or runs by means of a bound and/or gallop gait. However, it is very difficult to design a single robot that can ...

Comments

Information & Contributors

Information

Published In

cover image Autonomous Robots

Autonomous Robots Volume 7, Issue 3

November 1999

79 pages

ISSN:0929-5593

Issue’s Table of Contents

Copyright © Copyright © 1999 Kluwer Academic Publishers.

Publisher

Kluwer Academic Publishers

United States

Publication History

Published: 01 November 1999

Author Tags

Qualifiers

Article

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

31
Total Citations
View Citations
0
Total Downloads

Downloads (Last 12 months)0
Downloads (Last 6 weeks)0

Reflects downloads up to 29 Nov 2024

Other Metrics

View Author Metrics

Citations

Cited By

Jianyuan WSiyu LJinbao C(2024)A CPG-based gait planning method for bipedal robotsArtificial Life and Robotics10.1007/s10015-024-00947-629:2(340-348)Online publication date: 1-May-2024
https://dl.acm.org/doi/10.1007/s10015-024-00947-6
Che WForni F(2021)Shaping oscillations via mixed feedback2021 60th IEEE Conference on Decision and Control (CDC)10.1109/CDC45484.2021.9683238(4602-4608)Online publication date: 14-Dec-2021
https://dl.acm.org/doi/10.1109/CDC45484.2021.9683238
Hayakawa MTakeda KIshibashi MTanami KAibara MKaneko MSaito KUchikoba F(2021)Pulse-type hardware neural network mimicking spinal cord functionArtificial Life and Robotics10.1007/s10015-021-00691-126:4(450-456)Online publication date: 1-Nov-2021
https://dl.acm.org/doi/10.1007/s10015-021-00691-1
Ishii YYamamoto HKim SIkemoto Y(2019)Development of the experimental system that can acquire the gait data online in a quadruped robot2018 International Symposium on Micro-NanoMechatronics and Human Science (MHS)10.1109/MHS.2018.8886957(1-4)Online publication date: 9-Dec-2019
https://dl.acm.org/doi/10.1109/MHS.2018.8886957
Tian JMa CWei CZhao Y(2019)A Smooth Gait Planning Framework for Quadruped Robot Based on Virtual Model ControlIntelligent Robotics and Applications10.1007/978-3-030-27538-9_34(398-410)Online publication date: 8-Aug-2019
https://dl.acm.org/doi/10.1007/978-3-030-27538-9_34
Akhmet MFen MKıvılcım A(2016)Li-Yorke chaos generation by SICNNs with chaotic/almost periodic postsynaptic currentsNeurocomputing10.1016/j.neucom.2015.08.001173:P3(580-594)Online publication date: 15-Jan-2016
https://dl.acm.org/doi/10.1016/j.neucom.2015.08.001
Akhmet MFen MKirane M(2016)Almost periodic solutions of retarded SICNNs with functional response on piecewise constant argumentNeural Computing and Applications10.1007/s00521-015-2019-427:8(2483-2495)Online publication date: 1-Nov-2016
https://dl.acm.org/doi/10.1007/s00521-015-2019-4
Shim YHusbands P(2012)Chaotic exploration and learning of locomotion behaviorsNeural Computation10.1162/NECO_a_0031324:8(2185-2222)Online publication date: 1-Aug-2012
https://dl.acm.org/doi/10.1162/NECO_a_00313
Bliss TIwasaki TBart-Smith H(2012)Resonance entrainment of tensegrity structures via CPG controlAutomatica (Journal of IFAC)10.1016/j.automatica.2012.08.02348:11(2791-2800)Online publication date: 1-Nov-2012
https://dl.acm.org/doi/10.1016/j.automatica.2012.08.023
Nassour JHénaff POuezdou FCheng G(2010)A study of adaptive locomotive behaviors of a biped robotProceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats10.5555/1884889.1884922(313-324)Online publication date: 25-Aug-2010
https://dl.acm.org/doi/10.5555/1884889.1884922
Show More Cited By

View Options

View options

Media

Figures

Other

Tables

View Issue’s Table of Contents