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Sensorimotor Control of Biped Locomotion

机译：两足动物运动的感觉运动控制

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摘要

Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators, supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers based on direct sensorimotor reflexes have not been given much attention, as they have probably been considered too simple for the task of controlling a biped. In this paper, however, we present results to the contrary. It is shown that a purely sensorimotor neural network, that is one with direct connections between sensors and motors can produce gait in an eight degree-of-freedom simulated lower body biped. Further analysis indicates that proprioceptive information is useful but not essential for the control of walking, while cutaneous information is essential. The final experiments show that sensorimotor control of biped walking can be accomplished using a network with only two cutaneous inputs and four neurons. The results suggest that reflexes may play a large role in rhythm generation, in addition to central pattern generators. The results also demonstrate the importance of sensorimotor reflexes in adaptive behavior.
机译：人体运动对环境，身体大小和形态的变化具有极强的适应性和鲁棒性。这种高度自适应的系统的控制被认为是由中央模式发生器执行的，该模式发生器由称为反射的感觉运动连接系统来支持。单独地或与反射一起进行了关于中央模式发生器的若干研究。但是，基于直接感觉运动反射的控制器并未受到足够的重视，因为对于控制两足动物的任务而言，它们可能被认为过于简单。但是，在本文中，我们提出了相反的结果。结果表明，一个纯粹的感觉运动神经网络，即在传感器和电机之间具有直接连接的神经网络，可以在八自由度的模拟两足动物下肢产生步态。进一步的分析表明，本体感受信息是有用的，但对于控制步行并不是必需的，而皮肤信息则是必不可少的。最终实验表明，仅使用两个皮肤输入和四个神经元的网络就可以完成Biped行走的感觉运动控制。结果表明，除了中央模式发生器之外，反射在节奏产生中也可能起重要作用。结果还证明了感觉运动反射在适应行为中的重要性。

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