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Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot
[article]
2020
arXiv
pre-print
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in robotic locomotion. Despite a global endorsement of this model, physiological and functional experiments in mammals have also indicated the presence of descending signals from the cerebellum, and reflex feedback from the lower limb sensory cells, that closely
arXiv:2003.09327v1
fatcat:afq63mjwwvbxrj73j27op2ro4a