A Simple Rule for Quadrupedal Gait Transition Proposed by a Simulated Muscle-driven Quadruped Model with Two-level CPGs

Habu, Yasushi; Yamada, Yuuta; Fukui, Satoshi; Fukuoka, Yasuhiro

doi:10.1109/robio.2018.8664855

Cited by 10 publications

(5 citation statements)

References 33 publications

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“…They shift to the swing phase immediately after the load is distributed when the other legs come into contact with the ground, thereby controlling the phase difference among legs. The studies (Ekeberg and Pearson, 2005;Maufroy et al, 2010;Rosendo et al, 2014;Habu et al, 2018) focusing the prolongation function also showed the similar phenomenon of gait stabilization.…”

Section: Gait Emergence Mechanism With the Proposed Reflex Circuitmentioning

confidence: 63%

“…It is not clear why the quadruped robot produced the pace gait, which is not a typical gait in cats. However, the models of Owaki and Ishiguro (2017) and Habu et al (2018), which focused on the prolongation of the stance phase, produced multiple gait patterns such as walking, trotting, and galloping. Therefore, as in the previous studies, our model may also generate other gaits than pace by changing the body parameters, neuronal parameters, or adding reflex pathways.…”

Section: Study Limitationsmentioning

confidence: 99%

“…In recent years, the constructivist approach has been employed to investigate the locomotion mechanism of animals by reproducing motor control of animals using robots and computer simulations. Habu et al (2018) has proposed a neuromuscular model that reproduces the musculoskeletal system and detailed neural pathways of cats. In the walking simulation, they designed a CPG network to generate a trot gait, and when they introduced feedback of ground reaction forces into the CPG, the model changed the gait from trot to walk and gallop.…”

Section: Introductionmentioning

confidence: 99%

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A Reciprocal Excitatory Reflex Between Extensors Reproduces the Prolongation of Stance Phase in Walking Cats: Analysis on a Robotic Platform

2021

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Spinal reflex is essential to the robust locomotion of quadruped animals. To investigate the reflex mechanisms, we developed a quadruped robot platform that emulates the neuromuscular dynamics of animals. The leg is designed to be highly back-drivable, and four Hill-type muscles and neuronal pathways are simulated on each leg using software. By searching for the reflex circuit that contributes to the generation of steady gait in cats through robotic experiments, we found a simple reflex circuit that could produce leg trajectories and a steady gait. In addition, this circuit can reproduce the experimental behavior observed in cats. As a major contribution of this study, we show that the underlying structure of the reflex circuit is the reciprocal coupling between extensor muscles via excitatory neural pathways. In the walking experiments on the robot, a steady gait and experimental behaviors of walking cats emerged from the reflex circuit without any central pattern generators. Furthermore, to take advantage of walking experiments using a neurophysiological robotic platform, we conducted experiments in which a part of the proposed reflex circuit was disconnected for a certain period of time during walking. The results showed that the prolongation of the stance phase caused by the reciprocal excitatory reflex contributed greatly to the generation of a steady gait.

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Section: Gait Emergence Mechanism With the Proposed Reflex Circuitmentioning

confidence: 63%

Section: Study Limitationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Reciprocal Excitatory Reflex Between Extensors Reproduces the Prolongation of Stance Phase in Walking Cats: Analysis on a Robotic Platform

2021

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“…A natural choice for stance/swing differentiation is the initiation/termination of the loading of the legs, which has been shown to have a major role in the regulation of the reflexes and the neuro-muscular response during gait in different animals, including humans ( Duysens and Pearson, 1980 ; Pearson, 1995 ; Duysens et al, 2000 ; Pearson, 2004 ). This information has also been utilized in simulations ( Habu et al, 2018 ) and legged robot controllers ( Maufroy et al, 2010 ; Macleod et al, 2014 ; Owaki and Ishiguro, 2017 ) to generate and modulate stable gaits. Leg loading is quantified based on the ground reaction forces (GRFs) on the feet.…”

Section: Methodsmentioning

confidence: 99%

Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization

Manzoori,

Malatesta,

Primavesi

et al. 2024

Front. Bioeng. Biotechnol.

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Background: Efficient gait assistance by augmentative exoskeletons depends on reliable control strategies. While numerous control methods and their effects on the metabolic cost of walking have been explored in the literature, the use of different exoskeletons and dissimilar protocols limit direct comparisons. In this article, we present and compare two controllers for hip exoskeletons with different synchronization paradigms.Methods: The implicit-synchronization-based approach, termed the Simple Reflex Controller (SRC), determines the assistance as a function of the relative loading of the feet, resulting in an emerging torque profile continuously assisting extension during stance and flexion during swing. On the other hand, the Hip-Phase-based Torque profile controller (HPT) uses explicit synchronization and estimates the gait cycle percentage based on the hip angle, applying a predefined torque profile consisting of two shorter bursts of assistance during stance and swing. We tested the controllers with 23 naïve healthy participants walking on a treadmill at 4 km ⋅ h−1, without any substantial familiarization.Results: Both controllers significantly reduced the metabolic rate compared to walking with the exoskeleton in passive mode, by 18.0% (SRC, p < 0.001) and 11.6% (HPT, p < 0.001). However, only the SRC led to a significant reduction compared to walking without the exoskeleton (8.8%, p = 0.004). The SRC also provided more mechanical power and led to bigger changes in the hip joint kinematics and walking cadence. Our analysis of mechanical powers based on a whole-body analysis suggested a reduce in ankle push-off under this controller. There was a strong correlation (Pearson’s r = 0.778, p < 0.001) between the metabolic savings achieved by each participant with the two controllers.Conclusion: The extended assistance duration provided by the implicitly synchronized SRC enabled greater metabolic reductions compared to the more targeted assistance of the explicitly synchronized HPT. Despite the different assistance profiles and metabolic outcomes, the correlation between the metabolic reductions with the two controllers suggests a difference in individual responsiveness to assistance, prompting more investigations to explore the person-specific factors affecting assistance receptivity.

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“…Applications of this principle to robotics include a variety of open-loop spiking CPGs generating position commands for robots ranging from hexapods [10] to fish [11]. Also, certain researchers have decided to tackle the problem of proprioceptive feedback in quadrupeds [12][13][14]. In this paper, which extends work previously presented at the 2020 IEEE International Conference on Soft Robotics [15] using a prototype of the same robot, we will demonstrate the design and implementation of a spiking central pattern generator entrained by proprioceptive feedback to control the locomotion of a modular robot.…”

Section: Introductionmentioning

confidence: 99%

Spiking neural state machine for gait frequency entrainment in a flexible modular robot

et al. 2020

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We propose a modular architecture for neuromorphic closed-loop control based on bistable relaxation oscillator modules consisting of three spiking neurons each. Like its biological prototypes, this basic component is robust to parameter variation but can be modulated by external inputs. By combining these modules, we can construct a neural state machine capable of generating the cyclic or repetitive behaviors necessary for legged locomotion. A concrete case study for the approach is provided by a modular robot constructed from flexible plastic volumetric pixels, in which we produce a forward crawling gait entrained to the natural frequency of the robot by a minimal system of twelve neurons organized into four modules.

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A Simple Rule for Quadrupedal Gait Transition Proposed by a Simulated Muscle-driven Quadruped Model with Two-level CPGs

Cited by 10 publications

References 33 publications

A Reciprocal Excitatory Reflex Between Extensors Reproduces the Prolongation of Stance Phase in Walking Cats: Analysis on a Robotic Platform

A Reciprocal Excitatory Reflex Between Extensors Reproduces the Prolongation of Stance Phase in Walking Cats: Analysis on a Robotic Platform

Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization

Spiking neural state machine for gait frequency entrainment in a flexible modular robot

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