A walking robot called human: lessons to be learned from neural control of locomotion

Journal of Biomechanics
J DuysensF C T Van der Helm

Abstract

From what we know at present with respect to the neural control of walking, it can be concluded that an optimal biologically inspired robot could have the following features. The limbs should include several joints in which position changes can be obtained by actuators across the joints. The control of mono- and biarticular actuators should occur at least at three levels: one at direct control of the actuators (equivalent to motoneuron level), the second at indirect control acting at a level which controls whole limb movement (flexion or extension) and the third at a still higher level controlling the interlimb coordination. The limb level circuits should be able to produce alternating flexion and extension movements in the limb by means of coupled oscillator flexor and extensor parts which are mutually inhibitory. The interlimb control level should be able to command the various limb control centers. All three control levels should have some basic feedback circuits but the most essential one is needed at the limb control level and concerns the decision to either flex or extend a given limb. The decision to activate the extensor part of the limb oscillator has to be based on feedback signalling the onset of loading of the limb ...Continue Reading

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Citations

Oct 17, 2001·Journal of Biomechanical Engineering·F C Anderson, M G Pandy
Dec 13, 2005·Journal of Neuroscience Methods·Vitor M FilipeArtur S P Varejão
Oct 28, 2014·PloS One·Catherine A MacleodBernd Porr
Feb 6, 2018·Biological cybernetics·Lin MengHenrik Gollee
Aug 16, 2018·Bioinspiration & Biomimetics·Jacques Duysens, Arturo Forner-Cordero
Jul 7, 2012·Journal of Neural Engineering·Theresa J Klein, M Anthony Lewis
Sep 21, 2017·Frontiers in Neurorobotics·Maziar A SharbafiGuoping Zhao

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