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Karashchuk L, Li JS(L, Chou GM, Walling-Bell S, Brunton SL, Tuthill JC, Brunton BW. Sensorimotor delays constrain robust locomotion in a 3D kinematic model of fly walking. BIORXIV : THE PREPRINT SERVER FOR BIOLOGY 2024:2024.04.18.589965. [PMID: 38712226 PMCID: PMC11071299 DOI: 10.1101/2024.04.18.589965] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/08/2024]
Abstract
Walking animals must maintain stability in the presence of external perturbations, despite significant temporal delays in neural signaling and muscle actuation. Here, we develop a 3D kinematic model with a layered control architecture to investigate how sensorimotor delays constrain robustness of walking behavior in the fruit fly, Drosophila. Motivated by the anatomical architecture of insect locomotor control circuits, our model consists of three component layers: a neural network that generates realistic 3D joint kinematics for each leg, an optimal controller that executes the joint kinematics while accounting for delays, and an inter-leg coordinator. The model generates realistic simulated walking that matches real fly walking kinematics and sustains walking even when subjected to unexpected perturbations, generalizing beyond its training data. However, we found that the model's robustness to perturbations deteriorates when sensorimotor delay parameters exceed the physiological range. These results suggest that fly sensorimotor control circuits operate close to the temporal limit at which they can detect and respond to external perturbations. More broadly, we show how a modular, layered model architecture can be used to investigate physiological constraints on animal behavior.
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Affiliation(s)
- Lili Karashchuk
- Neuroscience Graduate Program, University of Washington, Seattle
| | - Jing Shuang (Lisa) Li
- Dept of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor
| | - Grant M. Chou
- Dept of Physiology & Biophysics, University of Washington, Seattle
| | | | | | - John C. Tuthill
- Dept of Physiology & Biophysics, University of Washington, Seattle
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2
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Schwaner MJ, Gordon JC, Biewener AA, Daley MA. Muscle force-length dynamics during walking over obstacles indicates delayed recovery and a shift towards more 'strut-like' function in birds with proprioceptive deficit. J Exp Biol 2023; 226:jeb245199. [PMID: 37282982 PMCID: PMC10658895 DOI: 10.1242/jeb.245199] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/17/2022] [Accepted: 05/16/2023] [Indexed: 06/08/2023]
Abstract
Recent studies of in vivo muscle function in guinea fowl revealed that distal leg muscles rapidly modulate force and work to stabilize running in uneven terrain. Previous studies focused on running only, and it remains unclear how muscular mechanisms for stability differ between walking and running. Here, we investigated in vivo function of the lateral gastrocnemius (LG) during walking over obstacles. We compared muscle function in birds with intact (iLG) versus self-reinnervated LG (rLG). Self-reinnervation results in proprioceptive feedback deficit due to loss of monosynaptic stretch reflex. We tested the hypothesis that proprioceptive deficit results in decreased modulation of EMG activity in response to obstacle contact, and a delayed obstacle recovery compared with that for iLG. We found that total myoelectric intensity (Etot) of iLG increased by 68% in obstacle strides (S 0) compared with level terrain, suggesting a substantial reflex-mediated response. In contrast, Etot of rLG increased by 31% in S 0 strides compared with level walking, but also increased by 43% in the first post-obstacle (S +1) stride. In iLG, muscle force and work differed significantly from level walking only in the S 0 stride, indicating a single-stride recovery. In rLG, force increased in S 0, S +1 and S +2 compared with level walking, indicating three-stride obstacle recovery. Interestingly, rLG showed little variation in work output and shortening velocity in obstacle terrain, indicating a shift towards near-isometric strut-like function. Reinnervated birds also adopted a more crouched posture across level and obstacle terrains compared with intact birds. These findings suggest gait-specific control mechanisms in walking and running.
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Affiliation(s)
- M Janneke Schwaner
- Department of Ecology and Evolutionary Biology, University of California, Irvine, Irvine, CA 92697, USA
| | - Joanne C Gordon
- Comparative Biomedical Sciences, Royal Veterinary College, University of London, London NW1 0TU, UK
| | - Andrew A Biewener
- Organismic and Evolutionary Biology, Harvard University, Cambridge, MA 02138, USA
| | - Monica A Daley
- Department of Ecology and Evolutionary Biology, University of California, Irvine, Irvine, CA 92697, USA
- Center for Integrative Movement Sciences, University of California, Irvine, Irvine, CA 92617, USA
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3
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Jeong S, Nishikawa K. The force response of muscles to activation and length perturbations depends on length history. J Exp Biol 2023; 226:286982. [PMID: 36655760 DOI: 10.1242/jeb.243991] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2022] [Accepted: 01/13/2023] [Indexed: 01/20/2023]
Abstract
Recent studies have demonstrated that muscle force is not determined solely by activation under dynamic conditions, and that length history has an important role in determining dynamic muscle force. Yet, the mechanisms for how muscle force is produced under dynamic conditions remain unclear. To explore this, we investigated the effects of muscle stiffness, activation and length perturbations on muscle force. First, submaximal isometric contraction was established for whole soleus muscles. Next, the muscles were actively shortened at three velocities. During active shortening, we measured muscle stiffness at optimal muscle length (L0) and the force response to time-varying activation and length perturbations. We found that muscle stiffness increased with activation but decreased as shortening velocity increased. The slope of the relationship between maximum force and activation amplitude differed significantly among shortening velocities. Also, the intercept and slope of the relationship between length perturbation amplitude and maximum force decreased with shortening velocity. As shortening velocities were related to muscle stiffness, the results suggest that length history determines muscle stiffness and the history-dependent muscle stiffness influences the contribution of activation and length perturbations to muscle force. A two-parameter viscoelastic model including a linear spring and a linear damper in parallel with measured stiffness predicted history-dependent muscle force with high accuracy. The results and simulations support the hypothesis that muscle force under dynamic conditions can be accurately predicted as the force response of a history-dependent viscoelastic material to length perturbations.
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Affiliation(s)
- Siwoo Jeong
- Department of Biological Sciences, Northern Arizona University, Flagstaff, AZ 86011-5640, USA
| | - Kiisa Nishikawa
- Department of Biological Sciences, Northern Arizona University, Flagstaff, AZ 86011-5640, USA
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Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems. SENSORS 2022; 22:s22124440. [PMID: 35746222 PMCID: PMC9229068 DOI: 10.3390/s22124440] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/20/2022] [Revised: 06/02/2022] [Accepted: 06/09/2022] [Indexed: 02/01/2023]
Abstract
Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots' propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.
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Ravi DK, Heimhofer CC, Taylor WR, Singh NB. Adapting Footfall Rhythmicity to Auditory Perturbations Affects Resilience of Locomotor Behavior: A Proof-of-Concept Study. Front Neurosci 2021; 15:678965. [PMID: 34393705 PMCID: PMC8358836 DOI: 10.3389/fnins.2021.678965] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/10/2021] [Accepted: 06/15/2021] [Indexed: 11/18/2022] Open
Abstract
For humans, the ability to effectively adapt footfall rhythm to perturbations is critical for stable locomotion. However, only limited information exists regarding how dynamic stability changes when individuals modify their footfall rhythm. In this study, we recorded 3D kinematic activity from 20 participants (13 males, 18–30 years old) during walking on a treadmill while synchronizing with an auditory metronome sequence individualized to their baseline walking characteristics. The sequence then included unexpected temporal perturbations in the beat intervals with the subjects required to adapt their footfall rhythm accordingly. Building on a novel approach to quantify resilience of locomotor behavior, this study found that, in response to auditory perturbation, the mean center of mass (COM) recovery time across all participants who showed deviation from steady state (N = 15) was 7.4 (8.9) s. Importantly, recovery of footfall synchronization with the metronome beats after perturbation was achieved prior (+3.4 [95.0% CI +0.1, +9.5] s) to the recovery of COM kinematics. These results highlight the scale of temporal adaptation to perturbations and provide implications for understanding regulation of rhythm and balance. Thus, our study extends the sensorimotor synchronization paradigm to include analysis of COM recovery time toward improving our understanding of an individual’s resilience to perturbations and potentially also their fall risk.
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Affiliation(s)
- Deepak K Ravi
- Institute for Biomechanics, Department of Health Sciences and Technology, ETH Zürich, Switzerland
| | - Caroline C Heimhofer
- Institute for Biomechanics, Department of Health Sciences and Technology, ETH Zürich, Switzerland
| | - William R Taylor
- Institute for Biomechanics, Department of Health Sciences and Technology, ETH Zürich, Switzerland
| | - Navrag B Singh
- Institute for Biomechanics, Department of Health Sciences and Technology, ETH Zürich, Switzerland
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Bishop PJ, Michel KB, Falisse A, Cuff AR, Allen VR, De Groote F, Hutchinson JR. Computational modelling of muscle fibre operating ranges in the hindlimb of a small ground bird (Eudromia elegans), with implications for modelling locomotion in extinct species. PLoS Comput Biol 2021; 17:e1008843. [PMID: 33793558 PMCID: PMC8016346 DOI: 10.1371/journal.pcbi.1008843] [Citation(s) in RCA: 20] [Impact Index Per Article: 6.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/05/2020] [Accepted: 03/01/2021] [Indexed: 01/01/2023] Open
Abstract
The arrangement and physiology of muscle fibres can strongly influence musculoskeletal function and whole-organismal performance. However, experimental investigation of muscle function during in vivo activity is typically limited to relatively few muscles in a given system. Computational models and simulations of the musculoskeletal system can partly overcome these limitations, by exploring the dynamics of muscles, tendons and other tissues in a robust and quantitative fashion. Here, a high-fidelity, 26-degree-of-freedom musculoskeletal model was developed of the hindlimb of a small ground bird, the elegant-crested tinamou (Eudromia elegans, ~550 g), including all the major muscles of the limb (36 actuators per leg). The model was integrated with biplanar fluoroscopy (XROMM) and forceplate data for walking and running, where dynamic optimization was used to estimate muscle excitations and fibre length changes throughout both gaits. Following this, a series of static simulations over the total range of physiological limb postures were performed, to circumscribe the bounds of possible variation in fibre length. During gait, fibre lengths for all muscles remained between 0.5 to 1.21 times optimal fibre length, but operated mostly on the ascending limb and plateau of the active force-length curve, a result that parallels previous experimental findings for birds, humans and other species. However, the ranges of fibre length varied considerably among individual muscles, especially when considered across the total possible range of joint excursion. Net length change of muscle-tendon units was mostly less than optimal fibre length, sometimes markedly so, suggesting that approaches that use muscle-tendon length change to estimate optimal fibre length in extinct species are likely underestimating this important parameter for many muscles. The results of this study clarify and broaden understanding of muscle function in extant animals, and can help refine approaches used to study extinct species.
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Affiliation(s)
- Peter J. Bishop
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, United Kingdom
- Geosciences Program, Queensland Museum, Brisbane, Australia
| | - Krijn B. Michel
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, United Kingdom
| | - Antoine Falisse
- Department of Movement Sciences, KU Leuven, Leuven, Belgium
- Department of Bioengineering, Stanford University, Stanford, California, United States of America
| | - Andrew R. Cuff
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, United Kingdom
- Hull York Medical School, University of York, York, United Kingdom
| | - Vivian R. Allen
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, United Kingdom
| | | | - John R. Hutchinson
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, United Kingdom
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Ravi DK, Bartholet M, Skiadopoulos A, Kent JA, Wickstrom J, Taylor WR, Singh NB, Stergiou N. Rhythmic auditory stimuli modulate movement recovery in response to perturbation during locomotion. J Exp Biol 2021; 224:jeb.237073. [PMID: 33536309 PMCID: PMC7938806 DOI: 10.1242/jeb.237073] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/05/2020] [Accepted: 01/20/2021] [Indexed: 12/11/2022]
Abstract
The capacity to recover after a perturbation is a well-known intrinsic property of physiological systems, including the locomotor system, and can be termed ‘resilience’. Despite an abundance of metrics proposed to measure the complex dynamics of bipedal locomotion, analytical tools for quantifying resilience are lacking. Here, we introduce a novel method to directly quantify resilience to perturbations during locomotion. We examined the extent to which synchronizing stepping with two different temporal structured auditory stimuli (periodic and 1/f structure) during walking modulates resilience to a large unexpected perturbation. Recovery time after perturbation was calculated from the horizontal velocity of the body's center of mass. Our results indicate that synchronizing stepping with a 1/f stimulus elicited greater resilience to mechanical perturbations during walking compared with the periodic stimulus (3.3 s faster). Our proposed method may help to gain a comprehensive understanding of movement recovery behavior of humans and other animals in their ecological contexts. Summary: A new method for the evaluation of intrinsic resilience during unsteady locomotion in humans and animals, analysing the relationship between the structure of movement variability and resilience.
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Affiliation(s)
- Deepak K Ravi
- Institute for Biomechanics, ETH Zürich, 8093 Zürich, Switzerland
| | - Marc Bartholet
- Institute for Biomechanics, ETH Zürich, 8093 Zürich, Switzerland
| | - Andreas Skiadopoulos
- Department of Biomechanics and Center for Research in Human Movement Variability, University of Nebraska at Omaha, Omaha, NE 68182, USA
| | - Jenny A Kent
- Department of Biomechanics and Center for Research in Human Movement Variability, University of Nebraska at Omaha, Omaha, NE 68182, USA
| | - Jordan Wickstrom
- Department of Biomechanics and Center for Research in Human Movement Variability, University of Nebraska at Omaha, Omaha, NE 68182, USA
| | - William R Taylor
- Institute for Biomechanics, ETH Zürich, 8093 Zürich, Switzerland
| | - Navrag B Singh
- Institute for Biomechanics, ETH Zürich, 8093 Zürich, Switzerland
| | - Nick Stergiou
- Department of Biomechanics and Center for Research in Human Movement Variability, University of Nebraska at Omaha, Omaha, NE 68182, USA .,Department of Environmental Agricultural and Occupational Health, University of Nebraska Medical Center, Omaha, NE 68198-4388, USA
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Drama Ö, Badri-Spröwitz A. Trunk pitch oscillations for energy trade-offs in bipedal running birds and robots. BIOINSPIRATION & BIOMIMETICS 2020; 15:036013. [PMID: 32052793 DOI: 10.1088/1748-3190/ab7570] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and moment of inertias. On the other hand, most legged robots are not able to generate such versatile and energy-efficient motion and often disregard trunk movements as a means to enhance their locomotion capabilities. Recent research investigated how trunk motions affect the gait characteristics of humans, but there is a lack of analysis across different bipedal morphologies. To address this issue, we analyze avian running based on a spring-loaded inverted pendulum model with a pronograde (horizontal) trunk. We use a virtual point based control scheme and modify the alignment of the ground reaction forces to assess how our control strategy influences the trunk pitch oscillations and energetics of the locomotion. We derive three potential key strategies to leverage trunk pitch motions that minimize either the energy fluctuations of the center of mass or the work performed by the hip and leg. We suggest how these strategies could be used in legged robotics.
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Affiliation(s)
- Özge Drama
- Dynamic Locomotion Group, Max Planck Institute of Intelligent Systems, Stuttgart, Germany
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Clifton GT, Holway D, Gravish N. Uneven substrates constrain walking speed in ants through modulation of stride frequency more than stride length. ROYAL SOCIETY OPEN SCIENCE 2020; 7:192068. [PMID: 32269814 PMCID: PMC7137955 DOI: 10.1098/rsos.192068] [Citation(s) in RCA: 12] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/02/2019] [Accepted: 02/28/2020] [Indexed: 06/11/2023]
Abstract
Natural terrain is rarely flat. Substrate irregularities challenge walking animals to maintain stability, yet we lack quantitative assessments of walking performance and limb kinematics on naturally uneven ground. We measured how continually uneven 3D-printed substrates influence walking performance of Argentine ants by measuring walking speeds of workers from laboratory colonies and by testing colony-wide substrate preference in field experiments. Tracking limb motion in over 8000 videos, we used statistical models that associate walking speed with limb kinematic parameters to compare movement over flat versus uneven ground of controlled dimensions. We found that uneven substrates reduced preferred and peak walking speeds by up to 42% and that ants actively avoided uneven terrain in the field. Observed speed reductions were modulated primarily by shifts in stride frequency instead of stride length (flat R 2: 0.91 versus 0.50), a pattern consistent across flat and uneven substrates. Mixed effect modelling revealed that walking speeds on uneven substrates were accurately predicted based on flat walking data for over 89% of strides. Those strides that were not well modelled primarily involved limb perturbations, including missteps, active foot repositioning and slipping. Together these findings relate kinematic mechanisms underlying walking performance on uneven terrain to ecologically relevant measures under field conditions.
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Affiliation(s)
- G. T. Clifton
- Department of Mechanical and Aerospace Engineering, Behavior and Evolution, University of California, San Diego, USA
| | - D. Holway
- Division of Biological Science, Section of Ecology, Behavior and Evolution, University of California, San Diego, USA
| | - N. Gravish
- Department of Mechanical and Aerospace Engineering, Behavior and Evolution, University of California, San Diego, USA
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Kashiri N, Abate A, Abram SJ, Albu-Schaffer A, Clary PJ, Daley M, Faraji S, Furnemont R, Garabini M, Geyer H, Grabowski AM, Hurst J, Malzahn J, Mathijssen G, Remy D, Roozing W, Shahbazi M, Simha SN, Song JB, Smit-Anseeuw N, Stramigioli S, Vanderborght B, Yesilevskiy Y, Tsagarakis N. An Overview on Principles for Energy Efficient Robot Locomotion. Front Robot AI 2018; 5:129. [PMID: 33501007 PMCID: PMC7805619 DOI: 10.3389/frobt.2018.00129] [Citation(s) in RCA: 30] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/18/2018] [Accepted: 11/01/2018] [Indexed: 11/21/2022] Open
Abstract
Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.
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Affiliation(s)
- Navvab Kashiri
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Andy Abate
- Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States
| | - Sabrina J. Abram
- Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, Canada
| | - Alin Albu-Schaffer
- Robotics and Mechatronics Center, German Aerospace Center, Oberpfaffenhofen, Germany
| | - Patrick J. Clary
- Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States
| | - Monica Daley
- Structure and Motion Laboratory, Royal Veterinary College, Hertfordshire, United Kingdom
| | - Salman Faraji
- Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Raphael Furnemont
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Manolo Garabini
- Centro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, Italy
| | - Hartmut Geyer
- Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Alena M. Grabowski
- Applied Biomechanics Lab, Department of Integrative Physiology, University of Colorado, Boulder, CO, United States
| | - Jonathan Hurst
- Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States
| | - Jorn Malzahn
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Glenn Mathijssen
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - David Remy
- Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States
| | - Wesley Roozing
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Mohammad Shahbazi
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Surabhi N. Simha
- Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, Canada
| | - Jae-Bok Song
- Department of Mechanical Engineering, Korea University, Seoul, South Korea
| | - Nils Smit-Anseeuw
- Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States
| | | | - Bram Vanderborght
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Yevgeniy Yesilevskiy
- Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States
| | - Nikos Tsagarakis
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
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11
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Aiello BR, Gillis GB, Fox JL. Sensory Feedback and Animal Locomotion: Perspectives from Biology and Biorobotics: An Introduction to the Symposium. Integr Comp Biol 2018; 58:827-831. [PMID: 30376105 DOI: 10.1093/icb/icy100] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/14/2022] Open
Abstract
The successful completion of many behaviors relies on sensory feedback. This symposium brought together researchers using novel techniques to study how different stimuli are encoded, how and where multimodal feedback is integrated, and how feedback modulates motor output in diverse modes of locomotion (aerial, aquatic, and terrestrial) in a diverse range of taxa (insects, fish, tetrapods), and in robots. Similar to biological organisms, robots can be equipped with integrated sensors and can rely on sensory feedback to adjust the output signal of a controller. Engineers often look to biology for inspiration on how animals have evolved solutions to problems similar to those experienced in robotic movement. Similarly, biologists too must proactively engage with engineers to apply computer and robotic models to test hypotheses and answer questions on the capacity and roles of sensory feedback in generating effective movement. Through a diverse group of researchers, including both biologists and engineers, the symposium attempted to catalyze new interdisciplinary collaborations and identify future research directions for the development of bioinspired sensory control systems, as well as the use of robots to test hypotheses in neuromechanics.
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Affiliation(s)
- Brett R Aiello
- Department of Organismal Biology and Anatomy, University of Chicago, 1027 E. 57th Street, Chicago, IL 60637, USA
| | - Gary B Gillis
- Department of Biological Sciences, Mount Holyoke College, South Hadley, MA 01075, USA
| | - Jessica L Fox
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA
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