Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review.
Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review.
复制标题
腿部机器人中跨越协调的自适应控制策略：审查。
DOI：
10.3389/fnbot.2017.00039
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发表时间：
2017
影响因子：
3.1
通讯作者：
Wörgötter F
中科院分区：
文献类型：
--
作者：
Aoi S;Manoonpong P;Ambe Y;Matsuno F;Wörgötter F
行走的动物在运动过程中根据它们的情况产生自适应的肢间协调。肢体间协调是通过神经系统、肌肉骨骼系统和环境的动态相互作用产生的，尽管其潜在机制尚不清楚。最近，对生物适应机制的研究引起了人们的关注，正在为腿式机器人开发基于有关感觉运动相互作用的神经生理学发现的仿生控制系统。在这篇综述中，我们介绍了自适应interlimb协调腿式机器人引起的各种因素（运动速度，环境状况，身体属性，和任务）。此外，我们还展示了自适应肢体间协调的特性，如步态滞后和不同的时间尺度适应。我们还讨论了实现自适应肢体间协调的基本机制和控制策略以及腿式机器人控制系统的设计原则。
Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptation mechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.
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影响因子：
2.4
作者：
Aoi, Shinya;Yamashita, Tsuyoshi;Tsuchiya, Kazuo
通讯作者：
Tsuchiya, Kazuo
影响因子：
4.3
作者：
Asa, Kenji;Ishimura, Kosei;Wada, Mitsuo
通讯作者：
Wada, Mitsuo
影响因子：
2
作者：
ALEXANDER, RM;JAYES, AS
通讯作者：
JAYES, AS
影响因子：
1.9
作者：
Aoi, Shinya;Ogihara, Naomichi;Tsuchiya, Kazuo
通讯作者：
Tsuchiya, Kazuo
影响因子：
2.8
作者：
Blaesing, B;Cruse, H
通讯作者：
Cruse, H