Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

Korkmaz, Deniz; Koca, Gonca Özmen; Li, Guoyuan; Bal, Cafer; Ay, Mustafa; Akpolat, Zühtü Hakan

doi:10.1080/20464177.2019.1638703

Cited by 31 publications

(14 citation statements)

References 23 publications

(25 reference statements)

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“…Steering can be achieved in different ways, most easily by centrally inducing a bias in the left/right muscle activation (84). On the basis of these elementary components for navigation, goal-oriented swimming can then be implemented on top of our control structure using existing approaches and including additional sensory cues (32,85,86). Field missions also require swimming with resilience to external perturbations.…”

Section: Discussionmentioning

confidence: 99%

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

et al. 2021

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Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive receptors that provide information about the surrounding fluid. However, it remains difficult to study experimentally how these sensors influence motor commands in these animals. Here, using a specifically designed robot that captures the essential components of the animal neuromechanical system and using simulations, we tested the hypothesis that sensed hydrodynamic pressure forces can entrain body actuation through local feedback loops. We found evidence that this peripheral mechanism leads to self-organized undulatory swimming by providing intersegmental coordination and body oscillations. Swimming can be redundantly induced by central mechanisms, and we show that, therefore, a combination of both central and peripheral mechanisms offers a higher robustness against neural disruptions than any of them alone, which potentially explains how some vertebrates retain locomotor capabilities after spinal cord lesions. These results broaden our understanding of animal locomotion and expand our knowledge for the design of robust and modular robots that physically interact with the environment.

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Section: Discussionmentioning

confidence: 99%

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

et al. 2021

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“…One common approach is based on sensorimotor transformations. For example, a robot might exhibit stabilizing postural adjustment in response to body tilt above a threshold value ( Ayers and Witting, 2007 ; Korkmaz et al., 2021 ) or modify stepping output in response to a particular pattern of sensory input ( Kimura et al., 2007 ; Owaki and Ishiguro, 2017 ; Schilling et al., 2013 ). These designs are mostly open loop and rely on internal network dynamics rather than negative feedback to generate behavior.…”

Section: Discussionmentioning

confidence: 99%

Achieving natural behavior in a robot using neurally inspired hierarchical perceptual control

Barter

Yin

2021

iScience

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Terrestrial locomotion presents tremendous computational challenges on account of the enormous degrees of freedom in legged animals, and complex, unpredictable properties of natural environments, including the body and its effectors, yet the nervous system can achieve locomotion with ease. Here we introduce a quadrupedal robot that is capable of posture control and goaldirected locomotion across uneven terrain. The control architecture is a hierarchical network of simple negative feedback control systems inspired by the organization of the vertebrate nervous system. This robot is capable of robust posture control and locomotion in novel environments with unpredictable disturbances. Unlike current robots, our robot does not use internal inverse and forward models, nor does it require any training in order to perform successfully in novel environments.

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“…One common approach is for a catalogue of predefined states or actions to be released by sensory or internal conditions, such that the behavior of the robot is stabilized or made to appear lifelike. For example, a robot might exhibit stabilizing posture output in response to body tilt above a threshold value (4, 30, 46), or a modification of stepping output in response to a particular pattern of sensory input (28, 29, 36, 37, 41). Some designs have used this technique in a hierarchical fashion to generate quite sophisticated behavior (4, 41).…”

Section: Discussionmentioning

confidence: 99%

“…For example, a robot might exhibit stabilizing posture output in response to body tilt above a threshold value (4,30,46), or a modification of stepping output in response to a particular pattern of sensory input (28,29,36,37,41). Some designs have used this technique in a hierarchical fashion to generate quite sophisticated behavior (4,41).…”

Section: Comparison With Other Approachesmentioning

confidence: 99%

Achieving natural behavior in a robot using neurally inspired hierarchical control

2021

Preprint

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Terrestrial locomotion presents tremendous computational challenges on account of the enormous degrees of freedom in legged animals, and the complex and unpredictable properties of the natural environment and the effectors. Yet the nervous system can achieve locomotion with ease. Here we introduce a quadrupedal robot capable of goal-directed posture control and locomotion over rough terrain. The underlying control architecture is a hierarchical network of simple negative feedback control systems inspired by the organization of the vertebrate nervous system. Without using an internal model or feedforward planning, and without any training, our robot shows robust posture control and locomotor behavior in novel environments containing unpredictable disturbances.

show abstract

Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

Cited by 31 publications

References 23 publications

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Achieving natural behavior in a robot using neurally inspired hierarchical perceptual control

Achieving natural behavior in a robot using neurally inspired hierarchical control

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