均質モジュールから成る自律分散型多脚歩行ロボットシステム -機能とアルゴリズム- The Autonomous Decentralized Myriapod Locomotion Robot Whichi is Consist of Homogeneous Subsystems
The locomotion is said to be generated by the CPG (Central Pattern Generator) that is located at lower level of the nervous system. The CPG consists of some nervous oscillators, which is able to be regarded as an autonomous decentralized system. The gate patterns generated by these oscillators in CPG adapt to the environment and are high efficiency. We deal with an application of autonomous decentralized system to myriapod locomotion robot. In this algorithm, one subsystem consists of one leg and one oscillator. Though they only treat local informations and have functions for controlling one leg, they cangenerate harmonious gait patterns. Some simulations based on this algorithm show them.
日本ロボット学会誌 16(7), pp.957-964, 1998-10-15
The Robotics Society of Japan