Adaptive Motion Generation of Brainless Three-legged Robot without a Brain

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  • コントローラをもたない無脳三脚ロボットの適応的運動生成

Abstract

<p>In this paper, we develop a three-legged robot without a brain. This tripedal walking robot generates gait patterns adaptively and autonomously with no sensor, or controller. The key of this adaptability is to utilize a “weakness” of low-torque motors in each leg. Each motor drives leg joint and adjusts its own phase in response to a reaction force from the ground. As a result of the dynamics of body–motor–environment interaction, the weak motors sync each other.</p>

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