相关论文: Integrating Contact-aware Feedback CPG System for …
In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A deep reinforcement learning (RL) module for achieving adaptive…
In this paper, we present a model-free learning-based control scheme for the soft snake robot to improve its contact-aware locomotion performance in a cluttered environment. The control scheme includes two cooperative controllers: A…
Intelligent control of soft robots is challenging due to the nonlinear and difficult-to-model dynamics. One promising model-free approach for soft robot control is reinforcement learning (RL). However, model-free RL methods tend to be…
This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is presented here with the aid of a snake robot model problem…
Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central…
Biological studies reveal that neural circuits located at the spinal cord called central pattern generator (CPG) oscillates and generates rhythmic signals, which are the underlying mechanism responsible for rhythmic locomotion behaviors of…
Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for…
Central Pattern Generators (CPGs) have several properties desirable for locomotion: they generate smooth trajectories, are robust to perturbations and are simple to implement. Although conceptually promising, we argue that the full…
Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional…
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…
In recent years, locomotion mechanisms exhibited by vertebrate animals have been the inspiration for the improvement in the performance of robotic systems. These mechanisms include the adaptability of their locomotion to any change…
Central Pattern Generators (CPGs) form the neural basis of the observed rhythmic behaviors for locomotion in legged animals. The CPG dynamics organized into networks allow the emergence of complex locomotor behaviors. In this work, we take…
Inspired by biological motion generation, central pattern generators (CPGs) is frequently employed in legged robot locomotion control to produce natural gait pattern with low-dimensional control signals. However, the limited adaptability…
Locomotion is a crucial challenge for legged robots that is addressed "effortlessly" by biological networks abundant in nature, named central pattern generators (CPG). The multitude of CPG network models that have so far become biomimetic…
Snakes can bend their elongate bodies in various forms to traverse various environments. We understand how snakes use lateral bending to push against asperities on flat ground for propulsion, and snake robots can do so effectively. However,…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
All vertebrates are capable of performing various types of physical activity. Locomotor patterns are created by the cyclical coordinated work of the skeletal muscles. The organization of such a system in living organisms is responsible for…
Neuromorphic computing systems, where information is transmitted through action potentials in a bio-plausible fashion, is gaining increasing interest due to its promise of low-power event-driven computing. Application of neuromorphic…