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Front. Neurorobot. | doi: 10.3389/fnbot.2017.00039

Adaptive control strategies for interlimb coordination in legged robots: A review

  • 1Department of Aeronautics and Astronautics, Kyoto University, Japan
  • 2University of Southern Denmark, Denmark
  • 3Tohoku University, Japan
  • 4Kyoto University, Japan
  • 5Georg-August-Universität Göttingen, Germany

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.

Keywords: legged robot, Interlimb coordination, adaptation, sensorimotor interaction, central pattern generator

Received: 26 Nov 2016; Accepted: 31 Jul 2017.

Edited by:

Tom Ziemke, University of Skövde & Linköping University, Sweden

Reviewed by:

Holk Cruse, Bielefeld University, Germany
Auke Ijspeert, École Polytechnique Fédérale de Lausanne, Switzerland  

Copyright: © 2017 Aoi, Manoonpong, Ambe, Matsuno and Wörgötter. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

* Correspondence:
Dr. Shinya Aoi, Kyoto University, Department of Aeronautics and Astronautics, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto, 615-8540, Kyoto, Japan, shinya_aoi@kuaero.kyoto-u.ac.jp
Dr. Poramate Manoonpong, University of Southern Denmark, Odense M, Denmark, poma@mmmi.sdu.dk