Stance control inspired by cerebellum stabilizes reflex-based locomotion on HyQ robot
| Autor: | Claudio Semini, Victor Barasuol, Joni Dambre, Gabriel Urbain, Francis wyffels |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Cerebellum Technology and Engineering Computer science Sensory system Gravity compensation 02 engineering and technology 03 medical and health sciences Computer Science - Robotics 020901 industrial engineering & automation 0302 clinical medicine Gait (human) medicine Balance (ability) Robot kinematics business.industry Robotics Gait medicine.anatomical_structure Reflex Robot Artificial intelligence business CENTRAL PATTERN GENERATORS Neuroscience Robotics (cs.RO) 030217 neurology & neurosurgery RESPONSES |
| Zdroj: | 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) ICRA |
| ISSN: | 1050-4729 2577-087X |
| Popis: | Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in robotic locomotion. Despite a global endorsement of this model, physiological and functional experiments in mammals have also indicated the presence of descending signals from the cerebellum, and reflex feedback from the lower limb sensory cells, that closely interact with CPGs. To this day, these interactions are not fully understood. In some studies, it was demonstrated that pure reflex-based locomotion in the absence of oscillatory signals could be achieved in realistic musculoskeletal simulation models or small compliant quadruped robots. At the same time, biological evidence has attested the functional role of the cerebellum for predictive control of balance and stance within mammals. In this paper, we promote both approaches and successfully apply reflex-based dynamic locomotion, coupled with a balance and gravity compensation mechanism, on the state-of-art HyQ robot. We discuss the importance of this stability module to ensure a correct foot lift-off and maintain a reliable gait. The robotic platform is further used to test two different architectural hypotheses inspired by the cerebellum. An analysis of experimental results demonstrates that the most biologically plausible alternative also leads to better results for robust locomotion. |
| Databáze: | OpenAIRE |
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