Gait Learning Method for Quadrupedal Robot Using Chaos Time-series Analysis

DOI Open Access
  • Ma Yuehang
    Graduate School of Engineering, Tokyo Polytechnic University
  • Watanabe Kaori
    Graduate School of Engineering, Tokyo Polytechnic University
  • Suzuki Hidekazu
    Graduate School of Engineering, Tokyo Polytechnic University

Description

In the field of pet robots and robot-assisted therapy (RAT), characterization of animal motion is important for the development of robots resembling various animals. This paper presents a method for the generation of animal gait in quadrupedal robots. In this study, we employed AIBO as an experimental quadrupedal robot and generated the gait of the robot on the basis of an animal's gait and zoology. Moreover, we realized the stable gait on the ground by adjusting the minor deviation of parameters for each joint.

Journal

Keywords

Details 詳細情報について

  • CRID
    1390846609806473216
  • DOI
    10.5954/icarob.2020.os24-5
  • ISSN
    21887829
  • Text Lang
    en
  • Data Source
    • JaLC
    • Crossref
    • OpenAIRE
  • Abstract License Flag
    Disallowed

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