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

Research Project

Project/Area Number 23760381
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Control engineering
Research InstitutionTohoku University

Principal Investigator

OWAKI Dai  東北大学, 電気通信研究所, 助教 (40551908)

Project Period (FY) 2011 – 2012
Project Status Completed (Fiscal Year 2012)
Budget Amount *help
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2012: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2011: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywords柔軟足 / 動歩行制御 / 感覚運動協調
Research Abstract

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.

Report

(3 results)
  • 2012 Annual Research Report   Final Research Report ( PDF )
  • 2011 Research-status Report
  • Research Products

    (22 results)

All 2013 2012 2011 Other

All Presentation (20 results) (of which Invited: 1 results) Remarks (2 results)

  • [Presentation] Adaptive Bipedal Walking through Sensory-motor Coordination Yielded from Soft Deformable Feet2013

    • Author(s)
      Dai Owaki, Hiroki Fukuda, and Akio Ishiguro
    • Organizer
      The2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), pp. 4257-4263
    • Place of Presentation
      Vialmoura, Portugal
    • Year and Date
      2013-10-10
    • Related Report
      2012 Final Research Report
  • [Presentation] Role of Passive Properties in Producing Adaptive Motion in Robotic and Biological Systems2013

    • Author(s)
      Hartmut Witte and Dai Owaki
    • Organizer
      6^<th> International Symposium on Adaptive Motion on Animals and Machines (AMAMM2013)
    • Place of Presentation
      Darmstadt, Germany
    • Year and Date
      2013-03-14
    • Related Report
      2012 Final Research Report
  • [Presentation] 柔軟な足部から生み出される感覚情報を活用した適応的動歩行制御2012

    • Author(s)
      大脇大,福田裕樹,石黒章夫
    • Organizer
      第33回バイオメカニズム学術講演会,pp.201-202
    • Place of Presentation
      仙台
    • Year and Date
      2012-12-16
    • Related Report
      2012 Final Research Report
  • [Presentation] ミニマリストなCPGモデルから探る二脚ロコモーションに内在する脚間協調と脚内協調の発現機序2012

    • Author(s)
      福田裕樹,大脇大,石黒章夫
    • Organizer
      第30回日本ロボット学会学術講演会
    • Place of Presentation
      札幌
    • Year and Date
      2012-09-19
    • Related Report
      2012 Final Research Report
  • [Presentation] Minimalist CPG Model for Inter- and Intra-limb Coordination in Bipedal Locomotion2012

    • Author(s)
      Dai Owaki et al
    • Organizer
      IAS-12
    • Place of Presentation
      Jeju, Korea
    • Year and Date
      2012-06-29
    • Related Report
      2012 Final Research Report
  • [Presentation] 足部の表在感覚情報をCPG制御に活用した適応的二脚歩行の実験的検証2012

    • Author(s)
      福田裕樹,大脇大,石黒章夫
    • Organizer
      ロボティクス・メカトロニクス講演会2012,2P1-H03
    • Place of Presentation
      浜松
    • Year and Date
      2012-05-29
    • Related Report
      2012 Final Research Report
  • [Presentation] Soft Deformable Feet Yield Sensory-motor Coordination for Adaptive Bipedal Walking2012

    • Author(s)
      Dai Owaki, Hiroki Fukuda, and Akio Ishiguro
    • Organizer
      Dynamic Walking 2012
    • Place of Presentation
      Florida, USA
    • Year and Date
      2012-05-22
    • Related Report
      2012 Final Research Report
  • [Presentation] CPG-based Control of Bipedal Locomotion by Exploiting Soft Deformable Feet2011

    • Author(s)
      Dai Owaki, Shota Kubo, and Akio Ishiguro
    • Organizer
      5th International Symposium on Adaptive Motion on Animals and Machines(AMAMM2011)
    • Place of Presentation
      Awaji, Japan
    • Year and Date
      2011-10-12
    • Related Report
      2012 Final Research Report
  • [Presentation] CPG-based Adaptive Control of Bipedal Locomotion2011

    • Author(s)
      Akio Ishiguro, Shota Kubo, and Dai Owaki
    • Organizer
      Dynamic Walking2011
    • Place of Presentation
      Jena, Germany
    • Year and Date
      2011-07-18
    • Related Report
      2012 Final Research Report
  • [Presentation] 柔軟な足裏の表在感覚情報を活用した振動性・興奮性の自律的遷移に基づく適応的動歩行制御2011

    • Author(s)
      久保翔達,熊原渉,大脇大,石黒章夫
    • Organizer
      ロボティクスメカトロニクス講演会2011,2P2-K01
    • Place of Presentation
      岡山
    • Year and Date
      2011-05-28
    • Related Report
      2012 Final Research Report
  • [Presentation] 柔軟な足裏の表在感覚情報を活用した振動性・興奮性の自律的遷移に基づく適応的動歩行制御2011

    • Author(s)
      久保翔達
    • Organizer
      ロボティクス・メカトロニクス講演会2011
    • Place of Presentation
      岡山
    • Related Report
      2011 Research-status Report
  • [Presentation] CPG-based Adaptive Control of Bipedal Locomotion2011

    • Author(s)
      Akio Ishiguro
    • Organizer
      Dynamic Walking 2011
    • Place of Presentation
      Jena, Germany
    • Related Report
      2011 Research-status Report
  • [Presentation] A CPG-based Control of Bipedal Locomotion2011

    • Author(s)
      Dai Owaki
    • Organizer
      AMAM 2011
    • Place of Presentation
      Awaji, Japan
    • Related Report
      2011 Research-status Report
  • [Presentation] Soft Deformable Feet Yield Sensory-motor Coordination for Adaptive Bipedal Walking

    • Author(s)
      Dai Owaki
    • Organizer
      Dynamic Walking 2012
    • Place of Presentation
      Florida, USA
    • Related Report
      2012 Annual Research Report
  • [Presentation] 足部の表在感覚情報をCPG制御に活用した適応的二脚歩行の実験的検証

    • Author(s)
      福田裕樹
    • Organizer
      ロボティクス・メカトロニクス講演会2012
    • Place of Presentation
      浜松
    • Related Report
      2012 Annual Research Report
  • [Presentation] Minimalist CPG Model for Inter- and Intra-limb Coordination in Bipedal Locomotion

    • Author(s)
      Dai Owaki
    • Organizer
      IAS-12
    • Place of Presentation
      Jeju, Korea
    • Related Report
      2012 Annual Research Report
  • [Presentation] ミニマリストなCPGモデルから探る二脚ロコモーションに内在する脚間協調と脚内協調の発現機序

    • Author(s)
      福田裕樹
    • Organizer
      第30回日本ロボット学会学術講演会
    • Place of Presentation
      札幌
    • Related Report
      2012 Annual Research Report
  • [Presentation] Adaptive Bipedal Walking through Sensory-motor Coordination Yielded from Soft Deformable Feet

    • Author(s)
      Dai Owaki
    • Organizer
      IROS2012
    • Place of Presentation
      Vilamoura, Portugal
    • Related Report
      2012 Annual Research Report
  • [Presentation] 柔軟な足部から生み出される感覚情報を活用した適応的動歩行制御

    • Author(s)
      大脇大
    • Organizer
      バイオメカニズム学術講演会
    • Place of Presentation
      仙台
    • Related Report
      2012 Annual Research Report
  • [Presentation] The role of passive properties in producing adaptive motion in robotic and biological systems

    • Author(s)
      Dai Owaki
    • Organizer
      6th International Symposium on Adaptive Motion on Animals and Machines (AMAM2013)
    • Place of Presentation
      Darmstadt, Germany
    • Related Report
      2012 Annual Research Report
    • Invited
  • [Remarks] 東北大学電気通信研究所石黒研究室

    • URL

      http://www.cmplx.riec.tohoku.ac.jp

    • Related Report
      2012 Final Research Report
  • [Remarks] 東北大学石黒研究室

    • URL

      http://www.cmplx.riec.tohoku.ac.jp/ishiguro_web/home.html

    • Related Report
      2012 Annual Research Report

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Published: 2011-08-05   Modified: 2019-07-29  

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