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Article

Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation

by *,† and
Department of Mechanical Engineering, Osaka University, 2-1, Yamadaoka, Suita, Osaka 565-0871, Japan
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Robotics 2018, 7(2), 23; https://doi.org/10.3390/robotics7020023
Received: 7 April 2018 / Revised: 20 May 2018 / Accepted: 24 May 2018 / Published: 28 May 2018
This article describes an extremely simple controller as a minimal example of decentralized motor coordination and gait generation. The control strategy is based on the stretch reflex in animals and requires no mutual communication or detailed body models. Despite such simplicity, each controller can sync itself and generate various resonant oscillation by only physical interaction through whole body dynamics. To evaluate this controller, we conduct some simulations with a linear spring–mass–damper system and a nonlinear legged robot model with multiple controllers. The former shows an adaptability to change in vibration frequency and the body parameter. In the latter, first we show a limitation of the proposed method due to the nonlinearity, and an alternative method is proposed. Finally, the simple controllers generate versatile gaits just by choosing a control parameter of “speeding up or down,” and the gait generation can be explained by the controllers–body integration based on resonant oscillation. View Full-Text
Keywords: decentralized autonomous control; reflex; resonance; vibration; oscillation; legged robot; gait generation decentralized autonomous control; reflex; resonance; vibration; oscillation; legged robot; gait generation
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MDPI and ACS Style

Masuda, Y.; Ishikawa, M. Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation. Robotics 2018, 7, 23. https://doi.org/10.3390/robotics7020023

AMA Style

Masuda Y, Ishikawa M. Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation. Robotics. 2018; 7(2):23. https://doi.org/10.3390/robotics7020023

Chicago/Turabian Style

Masuda, Yoichi; Ishikawa, Masato. 2018. "Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation" Robotics 7, no. 2: 23. https://doi.org/10.3390/robotics7020023

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