Stance control inspired by cerebellum stabilizes reflex-based locomotion on HyQ robot
- Author
- Gabriel Urbain, Victor Barasuol, Claudio Semini, Joni Dambre (UGent) and Francis wyffels (UGent)
- Organization
- Abstract
- Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in robotic locomotion. Despite a global endorsement of this model, physiological and functional experiments in mammals have also indicated the presence of descending signals from the cerebellum, and reflex feedback from the lower limb sensory cells, that closely interact with CPGs. To this day, these interactions are not fully understood. In some studies, it was demonstrated that pure reflex-based locomotion in the absence of oscillatory signals could be achieved in realistic musculoskeletal simulation models or small compliant quadruped robots. At the same time, biological evidence has attested the functional role of the cerebellum for predictive control of balance and stance within mammals. In this paper, we promote both approaches and successfully apply reflex-based dynamic locomotion, coupled with a balance and gravity compensation mechanism, on the state-of-art HyQ robot. We discuss the importance of this stability module to ensure a correct foot lift-off and maintain a reliable gait. The robotic platform is further used to test two different architectural hypotheses inspired by the cerebellum. An analysis of experimental results demonstrates that the most biologically plausible alternative also leads to better results for robust locomotion.
- Keywords
- CENTRAL PATTERN GENERATORS, RESPONSES
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Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-8698103
- MLA
- Urbain, Gabriel, et al. “Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot.” 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 2020, pp. 6127–33, doi:10.1109/icra40945.2020.9196523.
- APA
- Urbain, G., Barasuol, V., Semini, C., Dambre, J., & wyffels, F. (2020). Stance control inspired by cerebellum stabilizes reflex-based locomotion on HyQ robot. 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 6127–6133. https://doi.org/10.1109/icra40945.2020.9196523
- Chicago author-date
- Urbain, Gabriel, Victor Barasuol, Claudio Semini, Joni Dambre, and Francis wyffels. 2020. “Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot.” In 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 6127–33. IEEE. https://doi.org/10.1109/icra40945.2020.9196523.
- Chicago author-date (all authors)
- Urbain, Gabriel, Victor Barasuol, Claudio Semini, Joni Dambre, and Francis wyffels. 2020. “Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot.” In 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 6127–6133. IEEE. doi:10.1109/icra40945.2020.9196523.
- Vancouver
- 1.Urbain G, Barasuol V, Semini C, Dambre J, wyffels F. Stance control inspired by cerebellum stabilizes reflex-based locomotion on HyQ robot. In: 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). IEEE; 2020. p. 6127–33.
- IEEE
- [1]G. Urbain, V. Barasuol, C. Semini, J. Dambre, and F. wyffels, “Stance control inspired by cerebellum stabilizes reflex-based locomotion on HyQ robot,” in 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), Online, 2020, pp. 6127–6133.
@inproceedings{8698103,
abstract = {{Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in robotic locomotion. Despite a global endorsement of this model, physiological and functional experiments in mammals have also indicated the presence of descending signals from the cerebellum, and reflex feedback from the lower limb sensory cells, that closely interact with CPGs. To this day, these interactions are not fully understood. In some studies, it was demonstrated that pure reflex-based locomotion in the absence of oscillatory signals could be achieved in realistic musculoskeletal simulation models or small compliant quadruped robots. At the same time, biological evidence has attested the functional role of the cerebellum for predictive control of balance and stance within mammals. In this paper, we promote both approaches and successfully apply reflex-based dynamic locomotion, coupled with a balance and gravity compensation mechanism, on the state-of-art HyQ robot. We discuss the importance of this stability module to ensure a correct foot lift-off and maintain a reliable gait. The robotic platform is further used to test two different architectural hypotheses inspired by the cerebellum. An analysis of experimental results demonstrates that the most biologically plausible alternative also leads to better results for robust locomotion.}},
author = {{Urbain, Gabriel and Barasuol, Victor and Semini, Claudio and Dambre, Joni and wyffels, Francis}},
booktitle = {{2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)}},
isbn = {{9781728173955}},
issn = {{1050-4729}},
keywords = {{CENTRAL PATTERN GENERATORS,RESPONSES}},
language = {{eng}},
location = {{Online}},
pages = {{6127--6133}},
publisher = {{IEEE}},
title = {{Stance control inspired by cerebellum stabilizes reflex-based locomotion on HyQ robot}},
url = {{http://doi.org/10.1109/icra40945.2020.9196523}},
year = {{2020}},
}
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