Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation

摘要

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.