Domestic Symposium on Distributed Autonomous Systems (in Yamaguchi Pref., Jan. 2025)
Towards Principles of Quadrupedal Locomotion
Simulation of autonomous rhythm and gait generation in a hind-legged biped
(tentative) Abstract
Intending to reduce the complexity in quadrupedal locomotion planning and control through emergence even more, we propose a legged locomotion controller inspired by the sensorimotor functions observed in the cat spinal cord. In simulations using a hind-legged biped robot, we demonstrate the emergence of a rhythm and gait closely resembling the belt-driven locomotion observed in spinal cats. We also show the self-propulsive locomotion of this hind-legged biped, based on the hypothesis that the brainstem output directs the intensity of muscle contraction (locomotion power) to the spinal cord. Furthermore, we meticulously examine the dynamic interaction with the environment, considering the fixture's presence, and document the entire process in detail. We show that the mechanisms underlying the emergence of legged locomotion are the interactions between leg phase switching, self-excited oscillations of the body or trunk, and leg load spatiotemporal pattern. Its temporal pattern determines the rhythm, and its spatial pattern determines the gait.
Simulation of belt-driven locomotion of a spinal cat
- belt-driven locomotion on a treadmill slow motion (.mp4)
-- Simulation of locomotion on the treadmill with the increasing speed belt
- Reference
- H. Forssberg, S. Grillner, and J. Halbertsma: ``The locomotion of the low spinal cat. I. Coordination within a hindlimb,'' Acta Physiol. Scand., vol.108, pp.269--281, 1980. [doi:10.1111/j.1748-1716.1980.tb06533.x]
- H. Forssberg, S. Grillner, J. Halbertsma, and S. Rossignol: ``The locomotion of the low spinal cat. II. Interlimb coordination,'' Acta Physiol. Scand., vol.108, pp.283--295, 1980. [doi:10.1111/j.1748-1716.1980.tb06534.x]
Simulation of MLR stimulation-driven locomotion of a mid-brain cat
- slef-propulsive locomotion on the floor slow motion (.mp4)
-- Simulation of locomotion on the treadmill with the free moving belt
- slef-propulsive locomotion on a treadmill slow motion (.mp4)
-- Simulation of locomotion on the treadmill with the constant speed belt
- Reference
- M. Shik, F.V. Severin, and G.N. Orlovsky: ``Control of walking and running by means of electrical stimulation of the mid-brain,'' Biophysics, vol.11, pp.756--765, 1966.
Changing the phase variable constraint of the lift-off timing for the Rhythm Generator by the Pattern Formation based on the locomotion power
- slef-propulsive locomotion on the floor in step-by-step increasing the locomotion power real time (.mp4)
Reversibility of the rhythm and gait transitions
- belt-driven locomotion on a treadmill slow motion (.mp4)
- slef-propulsive locomotion on the floor slow motion (.mp4)
Home