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Published in:
2016 | OriginalPaper | Chapter
Understanding Interlimb Coordination Mechanism of Hexapod Locomotion via “TEGOTAE”-Based Control
Authors : Masashi Goda, Sakiko Miyazawa, Susumu Itayama, Dai Owaki, Takeshi Kano, Akio Ishiguro
Published in: Biomimetic and Biohybrid Systems
Publisher: Springer International Publishing
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Abstract
Insects exhibit surprisingly adaptive and versatile locomotion despite their limited computational resources. Such locomotor patterns are generated via coordination between leg movements, i.e., an interlimb coordination mechanism. The clarification of this mechanism will lead us to elucidate the fundamental control principle of animal locomotion as well as to realize truly adaptive legged robots that could not be developed solely by conventional control theory. In this study, we tried to model the interlimb coordination mechanism underlying hexapod locomotion on the basis of a concept called “TEGOTAE,” a Japanese concept describing how well a perceived reaction matches an expectation. Preliminary experimental results show that our proposed TEGOTAE-based control scheme allows us to systematically design a decentralized interlimb coordination mechanism that can well-reproduce insects’ gait patterns.