The neuromechanics of animal locomotion: From biology to robotics and back

被引：43

作者：

Ramdya, Pavan ^{[1
]}

Ijspeert, Auke Jan ^{[2
,3
]}

机构：

[1] Ecole Polytech Fed Lausanne, Brain Mind Inst, Neuroengn Lab, Lausanne, Switzerland

[2] Ecole Polytech Fed Lausanne, Inst Bioengn, Lausanne, Switzerland

[3] Ecole Polytech Fed Lausanne, Biorobot Lab, Inst Bioengn, Lausanne, Switzerland

来源：

SCIENCE ROBOTICS | 2023年 / 8卷 / 78期

关键词：

CENTRAL PATTERN GENERATORS; BIO-INSPIRED CONTROLLER; SPINAL-CORD; MOTOR PRIMITIVES; BIPED LOCOMOTION; WALKING; SYSTEM; SIMULATION; MODELS; CELLS;

D O I：

10.1126/scirobotics.adg0279

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating animals. These include the use of high-level commands to control low-level central pattern generator-like controllers, which, in turn, are informed by sensory feedback. Reciprocally, neuroscience has benefited from tools and intuitions in robotics to reveal how embodiment, physical interac-tions with the environment, and sensory feedback help sculpt animal behavior. We illustrate and discuss exem-plar studies of this dialog between robotics and neuroscience. We also reveal how the increasing biorealism of simulations and robots is driving these two disciplines together, forging an integrative science of autonomous behavioral control with many exciting future opportunities.

引用

页数：13

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