Body–limb coordination, a well-coordinated behavior of the legs and other body parts such as the trunk, head, and tail, provides quadruped animals with notable locomotor skills. However, the control mechanisms responsible for body–limb coordination remain unclear because the animal behavior is highly dependent on body structure and varies with animal species. Here, we hypothesized the common control principle underlying trunk, head, and tail–limb coordination in quadruped running and investigated plausible control mechanisms through mathematical modeling and simulations. In this paper, we present a key control concept for body–limb coordination and simple two-dimensional simulation experiments. The simulation results revealed that the proposed mechanisms generate running behavior with trunk, head, and tail–limb coordination in response to body structure. The results suggest that the proposed mechanisms play an important role in body–limb coordination.
Decentralized Control Mechanisms for Trunk, Head, and Tail–limb Coordination in Quadruped Running
Lect. Notes in Networks, Syst.
Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022
2022-08-25
8 pages
Article/Chapter (Book)
Electronic Resource
English
Electro-hydraulic hybrid quadruped robot integrated with bionic trunk
European Patent Office | 2022
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