Locomotion Control With Frequency and Motor Pattern Adaptations

Existing adaptive locomotion control mechanisms for legged robots are usually aimed at one specific type of adaptation and rarely combined with others. Adaptive mechanisms thus stay at a conceptual level without their coupling effect with other mechanisms being investigated. However, we hypothesize...

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Autores principales:	Mathias Thor, Beck Strohmer, Poramate Manoonpong
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	legged robot locomotion control frequency adaptation motor pattern adaptation central pattern generator Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571
Acceso en línea:	https://doaj.org/article/8bb74f6799004f7d9aef08c8e092ec37
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spelling	oai:doaj.org-article:8bb74f6799004f7d9aef08c8e092ec372021-11-30T22:05:10ZLocomotion Control With Frequency and Motor Pattern Adaptations1662-511010.3389/fncir.2021.743888https://doaj.org/article/8bb74f6799004f7d9aef08c8e092ec372021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/fncir.2021.743888/fullhttps://doaj.org/toc/1662-5110Existing adaptive locomotion control mechanisms for legged robots are usually aimed at one specific type of adaptation and rarely combined with others. Adaptive mechanisms thus stay at a conceptual level without their coupling effect with other mechanisms being investigated. However, we hypothesize that the combination of adaptation mechanisms can be exploited for enhanced and more efficient locomotion control as in biological systems. Therefore, in this work, we present a central pattern generator (CPG) based locomotion controller integrating both a frequency and motor pattern adaptation mechanisms. We use the state-of-the-art Dual Integral Learner for frequency adaptation, which can automatically and quickly adapt the CPG frequency, enabling the entire motor pattern or output signal of the CPG to be followed at a proper high frequency with low tracking error. Consequently, the legged robot can move with high energy efficiency and perform the generated locomotion with high precision. The versatile state-of-the-art CPG-RBF network is used as a motor pattern adaptation mechanism. Using this network, the motor patterns or joint trajectories can be adapted to fit the robot's morphology and perform sensorimotor integration enabling online motor pattern adaptation based on sensory feedback. The results show that the two adaptation mechanisms can be combined for adaptive locomotion control of a hexapod robot in a complex environment. Using the CPG-RBF network for motor pattern adaptation, the hexapod learned basic straight forward walking, steering, and step climbing. In general, the frequency and motor pattern mechanisms complement each other well and their combination can be seen as an essential step toward further studies on adaptive locomotion control.Mathias ThorBeck StrohmerPoramate ManoonpongPoramate ManoonpongFrontiers Media S.A.articlelegged robotlocomotion controlfrequency adaptationmotor pattern adaptationcentral pattern generatorNeurosciences. Biological psychiatry. NeuropsychiatryRC321-571ENFrontiers in Neural Circuits, Vol 15 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	legged robot locomotion control frequency adaptation motor pattern adaptation central pattern generator Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571
spellingShingle	legged robot locomotion control frequency adaptation motor pattern adaptation central pattern generator Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571 Mathias Thor Beck Strohmer Poramate Manoonpong Poramate Manoonpong Locomotion Control With Frequency and Motor Pattern Adaptations
description	Existing adaptive locomotion control mechanisms for legged robots are usually aimed at one specific type of adaptation and rarely combined with others. Adaptive mechanisms thus stay at a conceptual level without their coupling effect with other mechanisms being investigated. However, we hypothesize that the combination of adaptation mechanisms can be exploited for enhanced and more efficient locomotion control as in biological systems. Therefore, in this work, we present a central pattern generator (CPG) based locomotion controller integrating both a frequency and motor pattern adaptation mechanisms. We use the state-of-the-art Dual Integral Learner for frequency adaptation, which can automatically and quickly adapt the CPG frequency, enabling the entire motor pattern or output signal of the CPG to be followed at a proper high frequency with low tracking error. Consequently, the legged robot can move with high energy efficiency and perform the generated locomotion with high precision. The versatile state-of-the-art CPG-RBF network is used as a motor pattern adaptation mechanism. Using this network, the motor patterns or joint trajectories can be adapted to fit the robot's morphology and perform sensorimotor integration enabling online motor pattern adaptation based on sensory feedback. The results show that the two adaptation mechanisms can be combined for adaptive locomotion control of a hexapod robot in a complex environment. Using the CPG-RBF network for motor pattern adaptation, the hexapod learned basic straight forward walking, steering, and step climbing. In general, the frequency and motor pattern mechanisms complement each other well and their combination can be seen as an essential step toward further studies on adaptive locomotion control.
format	article
author	Mathias Thor Beck Strohmer Poramate Manoonpong Poramate Manoonpong
author_facet	Mathias Thor Beck Strohmer Poramate Manoonpong Poramate Manoonpong
author_sort	Mathias Thor
title	Locomotion Control With Frequency and Motor Pattern Adaptations
title_short	Locomotion Control With Frequency and Motor Pattern Adaptations
title_full	Locomotion Control With Frequency and Motor Pattern Adaptations
title_fullStr	Locomotion Control With Frequency and Motor Pattern Adaptations
title_full_unstemmed	Locomotion Control With Frequency and Motor Pattern Adaptations
title_sort	locomotion control with frequency and motor pattern adaptations
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/8bb74f6799004f7d9aef08c8e092ec37
work_keys_str_mv	AT mathiasthor locomotioncontrolwithfrequencyandmotorpatternadaptations AT beckstrohmer locomotioncontrolwithfrequencyandmotorpatternadaptations AT poramatemanoonpong locomotioncontrolwithfrequencyandmotorpatternadaptations AT poramatemanoonpong locomotioncontrolwithfrequencyandmotorpatternadaptations
_version_	1718406276380098560

Locomotion Control With Frequency and Motor Pattern Adaptations

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