Three-dimensional walking of a simulated muscle-driven quadruped robot with neuromorphic two-level central pattern generators
Three-dimensional walking of a simulated muscle-driven quadruped robot with neuromorphic two-level central pattern generators
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DOI：
10.1177/1729881419885288
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发表时间：
2019-11
影响因子：
2.3
通讯作者：
Yasushi Habu;Keiichiro Uta;Y. Fukuoka
中科院分区：
文献类型：
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作者：
Yasushi Habu;Keiichiro Uta;Y. Fukuoka
我们的目标是设计一个神经形态控制器的运动的四足机器人肌肉驱动的腿机构。为此，我们使用模拟猫模型;模型的每条腿都配备有三个关节，由六个肌肉模型驱动，其中包含两个关节肌肉。对于每条腿，我们使用两个级别的中央模式发生器，包括一个节奏生成部分，以产生基本的节奏和一个模式形成部分，以协同激活不同的一组肌肉在四个连续的阶段（摆动，触地，站立，和升空）。传统上，即使在平坦的地形上，具有如此逼真的神经系统和肌肉驱动的腿部机制的四足动物模型也很难行走，但由于我们改进了神经和机械组件，我们的四足动物模型成功地再现了类似于猫的运动神经元激活和腿部轨迹，并以各种速度实现了稳定的三维运动。此外，即使不调整参数，四足动物也能够上坡和在不规则的地形上行走，并适应扰动。
We aim to design a neuromorphic controller for the locomotion of a quadruped robot with muscle-driven leg mechanisms. To this end, we use a simulated cat model; each leg of the model is equipped with three joints driven by six muscle models incorporating two-joint muscles. For each leg, we use a two-level central pattern generator consisting of a rhythm generation part to produce basic rhythms and a pattern formation part to synergistically activate a different set of muscles in each of the four sequential phases (swing, touchdown, stance, and liftoff). Conventionally, it was difficult for a quadruped model with such realistic neural systems and muscle-driven leg mechanisms to walk even on flat terrain, but because of our improved neural and mechanical components, our quadruped model succeeds in reproducing motoneuron activations and leg trajectories similar to those in cats and achieves stable three-dimensional locomotion at a variety of speeds. Moreover, the quadruped is capable of walking upslope and over irregular terrains and adapting to perturbations, even without adjusting the parameters.