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Sándor B, Gros C, Manoonpong P. Editorial: The roles of self-organization and sensory adaptation for locomotion in animals and robots. Front Neurorobot 2024; 18:1372772. [PMID: 38379849 PMCID: PMC10877031 DOI: 10.3389/fnbot.2024.1372772] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/18/2024] [Accepted: 01/23/2024] [Indexed: 02/22/2024] Open
Affiliation(s)
- Bulcsú Sándor
- Department of Physics, Babes-Bolyai University, Cluj-Napoca, Romania
| | - Claudius Gros
- Institute for Theoretical Physics, Goethe University Frankfurt, Frankfurt am Main, Germany
| | - Poramate Manoonpong
- Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
- Embodied Artificial Intelligence and Neurorobotics Lab, SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark
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Szorkovszky A, Veenstra F, Glette K. Central pattern generators evolved for real-time adaptation to rhythmic stimuli. BIOINSPIRATION & BIOMIMETICS 2023; 18:046020. [PMID: 37339660 DOI: 10.1088/1748-3190/ace017] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/05/2023] [Accepted: 06/20/2023] [Indexed: 06/22/2023]
Abstract
For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly defined as a control parameter, limiting the adaptability of walking gaits. Here we demonstrate a virtual quadruped robot employing a bio-inspired central pattern generator (CPG) that can spontaneously synchronize its movement to a range of rhythmic stimuli. Multi-objective evolutionary algorithms were used to optimize the variation of movement speed and direction as a function of the brain stem drive and the centre of mass control respectively. This was followed by optimization of an additional layer of neurons that filters fluctuating inputs. As a result, a range of CPGs were able to adjust their gait pattern and/or frequency to match the input period. We show how this can be used to facilitate coordinated movement despite differences in morphology, as well as to learn new movement patterns.
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Affiliation(s)
- Alex Szorkovszky
- RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway
- Department of Informatics, University of Oslo, Oslo, Norway
| | - Frank Veenstra
- Department of Informatics, University of Oslo, Oslo, Norway
| | - Kyrre Glette
- RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway
- Department of Informatics, University of Oslo, Oslo, Norway
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Sun T, Dai Z, Manoonpong P. Robust and reusable self-organized locomotion of legged robots under adaptive physical and neural communications. Front Neural Circuits 2023; 17:1111285. [PMID: 37063383 PMCID: PMC10102392 DOI: 10.3389/fncir.2023.1111285] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/29/2022] [Accepted: 03/16/2023] [Indexed: 04/03/2023] Open
Abstract
IntroductionAnimals such as cattle can achieve versatile and elegant behaviors through automatic sensorimotor coordination. Their self-organized movements convey an impression of adaptability, robustness, and motor memory. However, the adaptive mechanisms underlying such natural abilities of these animals have not been completely realized in artificial legged systems.MethodsHence, we propose adaptive neural control that can mimic these abilities through adaptive physical and neural communications. The control algorithm consists of distributed local central pattern generator (CPG)-based neural circuits for generating basic leg movements, an adaptive sensory feedback mechanism for generating self-organized phase relationships among the local CPG circuits, and an adaptive neural coupling mechanism for transferring and storing the formed phase relationships (a gait pattern) into the neural structure. The adaptive neural control was evaluated in experiments using a quadruped robot.ResultsThe adaptive neural control enabled the robot to 1) rapidly and automatically form its gait (i.e., self-organized locomotion) within a few seconds, 2) memorize the gait for later recovery, and 3) robustly walk, even when a sensory feedback malfunction occurs. It also enabled maneuverability, with the robot being able to change its walking speed and direction. Moreover, implementing adaptive physical and neural communications provided an opportunity for understanding the mechanism of motor memory formation.DiscussionOverall, this study demonstrates that the integration of the two forms of communications through adaptive neural control is a powerful way to achieve robust and reusable self-organized locomotion in legged robots.
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Affiliation(s)
- Tao Sun
- Neurorobotics Technology for Advanced Robot Motor Control Lab, The College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Wearable Systems Lab, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
| | - Zhendong Dai
- Neurorobotics Technology for Advanced Robot Motor Control Lab, The College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Poramate Manoonpong
- Neurorobotics Technology for Advanced Robot Motor Control Lab, The College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Bio-Inspired Robotics and Neural Engineering Lab, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
- *Correspondence: Poramate Manoonpong ;
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Owaki D, Manoonpong P, Ayali A. Editorial: Biological and Robotic Inter-Limb Coordination. Front Robot AI 2022; 9:875493. [PMID: 35391940 PMCID: PMC8981463 DOI: 10.3389/frobt.2022.875493] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/14/2022] [Accepted: 02/22/2022] [Indexed: 11/23/2022] Open
Affiliation(s)
- Dai Owaki
- Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan
- *Correspondence: Dai Owaki,
| | - Poramate Manoonpong
- Embodied AI and Neurorobotics Lab., SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark
- Bio-inspired Robotics and Neural Engineering Lab., School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong, Thailand
| | - Amir Ayali
- School of Zoology, Faculty of Life Sciences, and Sagol School of Neuroscience, Tel Aviv University, Tel Aviv, Israel
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Manoonpong P, Patanè L, Xiong X, Brodoline I, Dupeyroux J, Viollet S, Arena P, Serres JR. Insect-Inspired Robots: Bridging Biological and Artificial Systems. SENSORS (BASEL, SWITZERLAND) 2021; 21:7609. [PMID: 34833685 PMCID: PMC8623770 DOI: 10.3390/s21227609] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/09/2021] [Revised: 10/26/2021] [Accepted: 10/27/2021] [Indexed: 12/18/2022]
Abstract
This review article aims to address common research questions in hexapod robotics. How can we build intelligent autonomous hexapod robots that can exploit their biomechanics, morphology, and computational systems, to achieve autonomy, adaptability, and energy efficiency comparable to small living creatures, such as insects? Are insects good models for building such intelligent hexapod robots because they are the only animals with six legs? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying relevant and future directions in the field of hexapod robotics over the next decade. After an introduction in section (1), the sections will respectively cover the following three key areas: (2) biomechanics focused on the design of smart legs; (3) locomotion control; and (4) high-level cognition control. These interconnected and interdependent areas are all crucial to improving the level of performance of hexapod robotics in terms of energy efficiency, terrain adaptability, autonomy, and operational range. We will also discuss how the next generation of bioroboticists will be able to transfer knowledge from biology to robotics and vice versa.
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Affiliation(s)
- Poramate Manoonpong
- Embodied Artificial Intelligence and Neurorobotics Laboratory, SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, 5230 Odense, Denmark;
- Bio-Inspired Robotics and Neural Engineering Laboratory, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Rayong 21210, Thailand
| | - Luca Patanè
- Department of Engineering, University of Messina, 98100 Messina, Italy
| | - Xiaofeng Xiong
- Embodied Artificial Intelligence and Neurorobotics Laboratory, SDU Biorobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, 5230 Odense, Denmark;
| | - Ilya Brodoline
- Department of Biorobotics, Aix Marseille University, CNRS, ISM, CEDEX 07, 13284 Marseille, France; (I.B.); (S.V.)
| | - Julien Dupeyroux
- Faculty of Aerospace Engineering, Delft University of Technology, 52600 Delft, The Netherlands;
| | - Stéphane Viollet
- Department of Biorobotics, Aix Marseille University, CNRS, ISM, CEDEX 07, 13284 Marseille, France; (I.B.); (S.V.)
| | - Paolo Arena
- Department of Electrical, Electronic and Computer Engineering, University of Catania, 95131 Catania, Italy
| | - Julien R. Serres
- Department of Biorobotics, Aix Marseille University, CNRS, ISM, CEDEX 07, 13284 Marseille, France; (I.B.); (S.V.)
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