Improving adaptive walking of a biped robot on a splitbelt treadmill by controlling the interlimb coordination

In this paper, we investigated the locomotor behavior of a biped robot on a splitbelt treadmill using computer simulation. In our previous work, we showed that our robot generated adaptive walking on a splitbelt treadmill using a locomotion control system composed of nonlinear oscillators with phase resetting. However, the control system didn´t use any learning mechanism unlike adaptive splitbelt treadmill walking by humans and animals and the adaptability of the control system was limited. In the present study, we improved our locomotion control system by incorporating the control of the interlimb coordination through learning and showed that the improved control system increases the adaptability of the splitbelt treadmill walking of the robot.