Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing
Matthieu Dujany,Simon Hauser,Mehmet Mutlu,Martijn van der Sar,Jonathan Arreguit,Takeshi Kano,Akio Ishiguro,Auke Ijspeert,Matthieu Dujany,Simon Hauser,Mehmet Mutlu,Martijn van der Sar,Jonathan Arreguit,Takeshi Kano,Akio Ishiguro,Auke Ijspeert
Gait emergence and adaptation in animals is unmatched in robotic systems. Animals can create and recover locomotive functions "on-the-fly" after an injury whereas locomotion controllers for robots lack robustness to morphological changes. In this work, we extend previous research on emergent interlimb coordination of legged robots based on coupled phase oscillators with force feedback terms. We in...
