{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,27]],"date-time":"2026-10-27T19:38:29Z","timestamp":1793129909769,"version":"4.5.0"},"reference-count":40,"publisher":"IOP Publishing","issue":"1","license":[{"start":{"date-parts":[[2024,11,7]],"date-time":"2024-11-07T00:00:00Z","timestamp":1730937600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/page\/copyright"},{"start":{"date-parts":[[2024,11,7]],"date-time":"2024-11-07T00:00:00Z","timestamp":1730937600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"funder":[{"name":"JSPS","award":["JP24KJ1602"],"award-info":[{"award-number":["JP24KJ1602"]}]}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Bioinspir. Biomim."],"published-print":{"date-parts":[[2025,1,31]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>A central pattern generator (CPG)-based controller enhances the adaptability of quadrupedal locomotion, for example, by controlling the trunk posture. The conventional CPG-based controllers with attitude control often utilized the posture angle as feedback information. However, if the robot\u2019s body is as soft as a musculoskeletal structure, it can detect the over-tilting of the trunk based on proprioceptive information of the muscles. In general, proprioceptive information such as muscle tension changes more rapidly than posture angle information. Therefore, a feedback loop based on proprioceptive information has great potential to respond to sudden disturbances that occur during locomotion over uneven terrain. In this research, we proposed a CPG-based controller utilizing the tension of soft pneumatic artificial muscles (PAMs). Musculoskeletal quadruped robots driven by PAMs are so soft, which prevents over-tilting of the trunk because the soft leg acts like a suspension. In addition, tension, one of the proprioceptive information of PAMs, exhibits high sensitivity to changes in trunk posture because the soft body\u2019s motion easily is affected by over-tilting of the trunk. To validate the efficacy of the proposed controller, we conducted numerical simulations with a simple quadruped model and experiments with a musculoskeletal quadruped robot. As a result, the tension feedback is not effective for posture stabilization on flat terrain whereas it is effective on uneven terrain. Moreover, the tension feedback improved the running velocity over uneven terrain. These results will enhance the locomotion capability of musculoskeletal quadruped robots, advancing their practical application.<\/jats:p>","DOI":"10.1088\/1748-3190\/ad839e","type":"journal-article","created":{"date-parts":[[2024,10,4]],"date-time":"2024-10-04T22:58:28Z","timestamp":1728082708000},"page":"016001","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Enhancing postural stability in musculoskeletal quadrupedal locomotion through tension feedback for CPG-based controller"],"prefix":"10.1088","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7253-7726","authenticated-orcid":true,"given":"Hiroaki","family":"Tanaka","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8564-4945","authenticated-orcid":true,"given":"Ojiro","family":"Matsumoto","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Takumi","family":"Kawasetsu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8392-1021","authenticated-orcid":true,"given":"Koh","family":"Hosoda","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2024,11,7]]},"reference":[{"key":"bbad839ebib1","first-page":"pp 38","article-title":"Anymal-a highly mobile and dynamic quadrupedal robot","author":"Hutter","year":"2016"},{"key":"bbad839ebib2","first-page":"pp 6295","article-title":"Mini cheetah: a platform for pushing the limits of dynamic quadruped control","author":"Katz","year":"2019"},{"key":"bbad839ebib3","first-page":"pp 3287","article-title":"Control of dynamic gaits for a quadrupedal robot","author":"Gehring","year":"2013"},{"key":"bbad839ebib4","doi-asserted-by":"publisher","first-page":"2553","DOI":"10.1109\/LRA.2019.2908502","article-title":"Passive whole-body control for quadruped robots: Experimental validation over challenging terrain","volume":"4","author":"Fahmi","year":"2019","journal-title":"IEEE Robot. 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All rights, including for text and data mining, AI training, and similar technologies, are reserved.","name":"copyright_information","label":"Copyright Information"},{"value":"2024-07-11","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2024-10-04","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2024-11-07","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}