書誌事項
- タイトル別名
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- Biologically Inspired Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain. Adjustment based on somatic sensation and vestibular sensation.
- 4ソク ロボット ノ セイブツ キハンガタ フセイチ テキオウドウ ホコウ カラダ セイカンカク ゼンテイ カンカク ニ ヨル チョウセツ
- —Adjustment based on somatic sensation and vestibular sensation—
- ―体性感覚・前庭感覚による調節―
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説明
We are trying to induce a quadruped robot to walk dynamically on irregular terrain by using a nervous system model. In this paper, we integrate several reflexes such as stretch reflex, vestibulospinal reflex, and extensor and flexor reflex into CPG (Central Pattern Generator) . We try to realize adaptive walking up and down a slope of 12 degrees, walking over an obstacle 3 [cm] in height, and walking on terrain undulation consisting of bumps 3 [cm] in height with fixed parameters of CPG and reflexes. The success in walking on such irregular terrain in spite of stumbling and landing on obstacles shows that the biologically inspired control proposed in this study has an ability of autonomous adaptation to unknown irregular terrain.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 19 (4), 510-517, 2001
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679703495296
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- NII論文ID
- 10007546059
- 10018500309
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 5765104
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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サーチ
- Crossref
- CiNii Articles
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可
