書誌事項
- タイトル別名
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- Generation of Adaptive Gait Patterns for Quadruped Robot with CPG Network including Motor Dynamic Model
- モータ ドウトクセイ オ コウリョ シタ CPG ネットワーク ニ ヨル 4キャク ロボット ノ ホコウ ドウサ ノ セイセイ
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This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environment. The CPGs act as the flexible oscillators of the joints and make the desired angle of the joints. The CPGs are mutually connected each other, and the sets of their coupling parameters are adjusted by genetic algorithm so that the quadruped robot can realize the stable and adequate gait patterns. As a result of generation, the suitable CPG networks for not only a walking straight gait pattern but also rotation gait patterns are obtained. Experimental results demonstrate that the proposed CPG networks are effective to automatically adjust the adaptive gait patterns for the tested quadruped robot under various environment. Furthermore, the target tracking control based on image processing is achieved by combining the generated gait patterns.
収録刊行物
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- 電気学会論文誌Ｃ（電子・情報・システム部門誌）
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電気学会論文誌Ｃ（電子・情報・システム部門誌） 124 (10), 2148-2154, 2004
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679583309824
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- NII論文ID
- 10013641198
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 7105750
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可