神経振動子を用いた四足ロボットの不整地動歩行と整地走行 Dynamic Walking on Irregular Terrain and Running on Flat Terrain of the Quadruped Using Neural Oscillator

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In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on flat terrain by using a neural system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch reflex and a flexor reflex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the flexor reflex and the crossed stretch reflex. A modification of the single driving input to the neural oscillator network makes it possible for the robot to walk up a step. For running on flat terrain, we combine a spring mechanism and the neural oscillator network. It became clear in this study that the matching of two oscillations by springs and the neural oscillator network is important in enabling the robot to hopping. The present study also shows that entrainment between neural oscillators causes the running gait to change from hopping to bouncing. This finding renders running fairly easy to attain in a bounce gait. It must be noticed that the flexible and robust dynamic walking on irregular terrain and the transition of the running gait are realized by the modification of a few parameters in the neural oscillator network. This finding, obtained through experiments using the quadruped called Patrush, shows the potential ability of a neural oscillator network to facilitate adaptation in dynamic walking and running.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 16(8), 1138-1145, 1998-11-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002865113
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4604022
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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