エルゴード的セルオートマトンCPGを用いた4脚歩行ロボットについて

DOI 機関リポジトリ (HANDLE)

書誌事項

タイトル別名
  • An Ergodic cellular Automaton of Central Pattern Generator for Quadruped Robot

説明

A novel ergodic cellular automaton (CA) oscillator and its theoretical analysis method are presented. Theoretical analyses reveal the oscillator is more suited to build a central pattern generator (CPG) compared to a standard non-ergodic CA oscillator. Further, it is shown the ergodic CA CPG can generate rhythmic signals suitable for realizing fundamental gaits of a quadruped robot. Then a prototype of the ergodic CA CPG is implemented by a field programmable gate array and experiments show it can realize the fundamental gaits of a physically implemented quadruped robot. Further, it is shown the ergodic CA CPG consumes much lower power and much fewer circuit resources compared to a typical conventional CPG implemented by a customized digital signal processor.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390011540582403456
  • DOI
    10.15002/00025333
  • HANDLE
    10114/00025333
  • ISSN
    24368083
  • 本文言語コード
    ja
  • 資料種別
    departmental bulletin paper
  • データソース種別
    • JaLC
    • IRDB
  • 抄録ライセンスフラグ
    使用可

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