To behave properly in an unknown environment, animals or robots must distinguish external from selfgenerated stimuli on their sensors. The biologically inspired concepts of efference copy and internal model have been successfully applied to a number of robot control problems. Here we present an application of this for our dynamic walking robot RunBot. We use efference copies of the motor commands with a simple forward internal model to predict the expected self-generated acceleration during walking. The difference to the actually measured acceleration is then used to stabilize the walking on terrains with changing slopes through its upper body component controller. As a consequence, the controller drives the upper body component (UBC) to lean forwards/backwards as soon as an error occurs resulting in dynamical stable walking. We have evaluated the performance of the system on four different track configurations. Furthermore we believe that the experimental studies pursued here will sharpen our understanding of how the efference copies influence dynamic locomotion control to the benefit of modern neural control strategies in robots. ; peerReviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Using efference copy and a forward internal model for adaptive biped walking



    Erscheinungsdatum :

    2010-01-01


    Anmerkungen:

    doi:10.1007/s10514-010-9199-7



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Using efference copy and a forward internal model for adaptive biped walking

    Schröder-Schetelig, J. | British Library Online Contents | 2010


    Biped walking robot control method and biped walking robot control system

    MORIDAIRA TOMOHISA | Europäisches Patentamt | 2016

    Freier Zugriff

    Using oculo-motor efference to predict a moving target's position

    Brenner, E. / Smeets, J. B. J. | British Library Conference Proceedings | 1998


    Cortical and cerebellar control of sequences of memory-guided saccades: The role of efference copy

    Heide, W. / Binkofski, F. / Nitschke, M. F. et al. | British Library Conference Proceedings | 1999


    Dragon-shaped biped walking robot and walking method

    CHEN XIAOSEN | Europäisches Patentamt | 2023

    Freier Zugriff