Matches in SemOpenAlex for { <https://semopenalex.org/work/W3202862600> ?p ?o ?g. }
- W3202862600 endingPage "682" @default.
- W3202862600 startingPage "666" @default.
- W3202862600 abstract "Locomotion in animals provides a model for adaptive behavior as it is able to deal with various kinds of perturbations. Work in insects suggests that this evolved flexibility results from a modular architecture, which can be characterized by a recurrent neural network allowing for various emerging attractor states. Whereas a lower control-level coordinates joint movements on a short timescale, a higher-level handles action selection on longer timescales. Implementation of such a control system on a walking hexapod robot was able to deal with various walking patterns including disturbances such as uneven terrain or loss of a leg. Here, we propose a cognitive expansion to the adaptive control system that allows dealing with novel challenging situations. This approach makes use of an internal simulation-based planner that is triggered when the model-free controller fails to recover from an unstable pose. Using a grounded internal body model, the planner then tries, in internal simulation, different solutions out of context, and thus, proposes a new plan to be executed on the real robot. We demonstrate the feasibility of this control approach for walking over terrain with uncertain footholds in three scenarios." @default.
- W3202862600 created "2021-10-11" @default.
- W3202862600 creator A5001201062 @default.
- W3202862600 creator A5009208640 @default.
- W3202862600 creator A5011185444 @default.
- W3202862600 creator A5036798684 @default.
- W3202862600 creator A5074989840 @default.
- W3202862600 date "2022-04-01" @default.
- W3202862600 modified "2023-09-30" @default.
- W3202862600 title "From Adaptive Locomotion to Predictive Action Selection – Cognitive Control for a Six-Legged Walker" @default.
- W3202862600 cites W1510437964 @default.
- W3202862600 cites W1511223926 @default.
- W3202862600 cites W1661878197 @default.
- W3202862600 cites W172478870 @default.
- W3202862600 cites W1738827650 @default.
- W3202862600 cites W1836583613 @default.
- W3202862600 cites W1972739837 @default.
- W3202862600 cites W1973311280 @default.
- W3202862600 cites W1973615355 @default.
- W3202862600 cites W1974336085 @default.
- W3202862600 cites W1975230295 @default.
- W3202862600 cites W1977331952 @default.
- W3202862600 cites W1995595901 @default.
- W3202862600 cites W2001058928 @default.
- W3202862600 cites W2001685400 @default.
- W3202862600 cites W2013876510 @default.
- W3202862600 cites W2023064587 @default.
- W3202862600 cites W2031397850 @default.
- W3202862600 cites W2047937115 @default.
- W3202862600 cites W2060277321 @default.
- W3202862600 cites W2064218901 @default.
- W3202862600 cites W2065238107 @default.
- W3202862600 cites W2075801472 @default.
- W3202862600 cites W2080711264 @default.
- W3202862600 cites W2084335597 @default.
- W3202862600 cites W2086970882 @default.
- W3202862600 cites W2093937828 @default.
- W3202862600 cites W2096460741 @default.
- W3202862600 cites W2097856935 @default.
- W3202862600 cites W2097861969 @default.
- W3202862600 cites W2109910161 @default.
- W3202862600 cites W2111904757 @default.
- W3202862600 cites W2126048208 @default.
- W3202862600 cites W2126483315 @default.
- W3202862600 cites W2127009454 @default.
- W3202862600 cites W2132205529 @default.
- W3202862600 cites W2143740992 @default.
- W3202862600 cites W2145339207 @default.
- W3202862600 cites W2153791616 @default.
- W3202862600 cites W2157853130 @default.
- W3202862600 cites W2157869728 @default.
- W3202862600 cites W2166822816 @default.
- W3202862600 cites W2273916944 @default.
- W3202862600 cites W2582903031 @default.
- W3202862600 cites W2586907386 @default.
- W3202862600 cites W2601610124 @default.
- W3202862600 cites W2738724892 @default.
- W3202862600 cites W2766255495 @default.
- W3202862600 cites W2787690100 @default.
- W3202862600 cites W2793991136 @default.
- W3202862600 cites W2794114929 @default.
- W3202862600 cites W2906340543 @default.
- W3202862600 cites W2907537824 @default.
- W3202862600 cites W2909331752 @default.
- W3202862600 cites W2911087563 @default.
- W3202862600 cites W2919912236 @default.
- W3202862600 cites W2949369413 @default.
- W3202862600 cites W2954634850 @default.
- W3202862600 cites W2963184939 @default.
- W3202862600 cites W2963305465 @default.
- W3202862600 cites W2980030724 @default.
- W3202862600 cites W2981819988 @default.
- W3202862600 cites W2983042770 @default.
- W3202862600 cites W2991112733 @default.
- W3202862600 cites W2991562719 @default.
- W3202862600 cites W2997896361 @default.
- W3202862600 cites W3004368638 @default.
- W3202862600 cites W3010754899 @default.
- W3202862600 cites W3010768390 @default.
- W3202862600 cites W3017151499 @default.
- W3202862600 cites W3017594186 @default.
- W3202862600 cites W3100789280 @default.
- W3202862600 cites W3129669494 @default.
- W3202862600 doi "https://doi.org/10.1109/tro.2021.3106832" @default.
- W3202862600 hasPublicationYear "2022" @default.
- W3202862600 type Work @default.
- W3202862600 sameAs 3202862600 @default.
- W3202862600 citedByCount "3" @default.
- W3202862600 countsByYear W32028626002021 @default.
- W3202862600 countsByYear W32028626002022 @default.
- W3202862600 crossrefType "journal-article" @default.
- W3202862600 hasAuthorship W3202862600A5001201062 @default.
- W3202862600 hasAuthorship W3202862600A5009208640 @default.
- W3202862600 hasAuthorship W3202862600A5011185444 @default.
- W3202862600 hasAuthorship W3202862600A5036798684 @default.
- W3202862600 hasAuthorship W3202862600A5074989840 @default.
- W3202862600 hasBestOaLocation W32028626001 @default.
- W3202862600 hasConcept C101468663 @default.