Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot
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- SUZUKI Hidekazu
- Tokyo Polytechnic University
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- NISHI Hitoshi
- Fukui National College of Technology
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- TAKI Koji
- Tokyo Polytechnic University
Bibliographic Information
- Other Title
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- 人間の感性に基づく動物型ロボットのための4脚歩容生成
- ニンゲン ノ カンセイ ニ モトズク ドウブツガタ ロボット ノ タメ ノ 4キャク ホヨウセイセイ
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Abstract
In the field of pet robots and robot-assisted therapy (RAT), characterization of animal motion is important for the development of robots resembling various animals. This paper presents a method for the generation of animal gait in quadrupedal robots. In this study, we employed AIBO as an experimental quadrupedal robot and generated the gait of the robot on the basis of an animal's gait. First, we optimized the mono-leg orbit, which can efficiently output a propulsive force, by imitating a dog's gait using a genetic algorithm. Moreover, we generated the quadrupedal gait of AIBO using both the optimum orbit of the mono-leg and an animal's gait, classified as the gait of a walking dog based on zoology. Furthermore, we administered a questionnaire study to determine subjective human feelings to choose the best gait for AIBO from among the various gaits mentioned above. Finally, minor deviation of parameters for each joint was corrected to realize the stable gait on the ground.
Journal
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- Journal of Japan Society for Fuzzy Theory and Intelligent Informatics
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Journal of Japan Society for Fuzzy Theory and Intelligent Informatics 21 (5), 653-662, 2009
Japan Society for Fuzzy Theory and Intelligent Informatics
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Details 詳細情報について
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- CRID
- 1390001205186769408
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- NII Article ID
- 10025995109
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- NII Book ID
- AA1181479X
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- ISSN
- 18817203
- 13477986
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- NDL BIB ID
- 10476168
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed