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.