Dynamic Walking Control Based on Sensory-motor Coordination ThatYield from Soft Deformable Feet

本研究旨在通过在状态空间中生成更稳定的极限环，生成现实世界约束下的自适应双足行走，该极限环由脑神经系统（即控制系统）、肌肉骨骼系统（即机械系统）和环境组成。在这项研究中，我模拟了一个非常规的基于cpg的控制方案，利用这些脚的变形产生的局部力反馈。此外，我开发了一种两足步行机器人，具有柔软的可变形的脚，灵感来自人体骨骼结构。我通过双足机器人在现实环境中的实验验证了所提出控制器的有效性。我发现这个机器人通过利用脚的可变形性，表现出了非常稳定的行走能力。这些结果支持了机器人身体的变形在感觉-运动协调的出现中起关键作用的结论，这是机器人系统产生自适应运动的关键方面。

This study aims to generate adaptive bipedal walking under the real world constraints through the generation of a more stable limit cycle in the state space, which comprises a brain-nervous system (i.e., control system), musculoskeletal system (i.e., mechanical system), and the environment. In this study, I modeled an unconventional CPG-based control scheme that exploits local force feedback generated from the deformation of these feet. Moreover, I developed a bipedal walking robot with soft deformable feet inspired by human skeletal structure. I verified the validity of the proposed controller through experiments with the bipedal robot in real-world environments. I found that the robot exhibits a remarkably stable walking ability by exploiting the deformability of its feet. These results support the conclusion that the deformation of a robot's body plays a pivotal role in the emergence of sensory-motor coordination, which is a key aspect in generating adaptive locomotion in robotic systems.