Three Dimensional Adaptive Walking of Quadruped Robot Using Sideways Sway Motion and Posture Reflex via Neural Oscillators

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  • 神経振動子経由の左右揺動運動・姿勢反射を用いた４脚ロボットの三次元適応歩行
  • シンケイ シンドウシ ケイユ ノ サユウ ヨウドウ ウンドウ シセイ ハンシャ オ モチイタ 4キャク ロボット ノ 3ジゲン テキオウ ホコウ

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Abstract

Legged locomotion has attracted many researchers' attention because it is very challenging to realize artificial systems which can generate the motion of legged animals with many degrees of freedom. Animals show marvellous autonomous adaptation abilities. It is well known that the motions of animals are controlled by internal nervous systems. In this paper, we propose a method to generate a three-dimensional locomotion based on structuring a simple model with neural oscillators, which generates locomotive patterns and sideways sway motion. The validity of the proposed method is verified using an autonomous quadruped robot.

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