６脚ロボットの方向転換歩容生成ネットワーク

• 岩瀬 英治

  東京大学大学院情報理工学系研究科

• 加藤 慎一朗

  東京大学大学院工学系研究科

• 安田 隆

  九州工業大学大学院生命体工学研究科

• 下山 勲

  東京大学大学院情報理工学系研究科

書誌事項

タイトル別名

• A Turning Gait Generating Network for a Hexapod Robot
• 6キャク ロボット ノ ホウコウ テンカン ホヨウセイセイ ネットワーク

抄録

This paper describes a gait generating network for a hexapod robot under various curvature turnings. Formica japonica Motschulsky, that is one of major ant with about 6 [mm] body length in Japan, was used for a gait analysis. Movements of the leg joints during free walking was recoded at 60 to 250 [frame/s] by a high-speed video camera. From the data, we found that the turning gaits were classified into two distinct patterns: a sharp turning gait in which case the radius of curvature is under 5 [mm], a gradual turning gait in which case that is 5 to 40 [mm] . A turning gait generating network, which was possible to generate each gait and to vary a radius of curvature, was devised. That is a neural network which is described by neurons and connections between them using excitation and inhibition. We made a hexapod robot with 3 DOF each leg and verified the accountability of the gait generating network using the robot. As a result, smooth and stable turning in different curvatures was achieved.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 22 (4), 492-498, 2004

  一般社団法人 日本ロボット学会

キーワード

• Hexapod Robot
• Gait Control
• Neural Network
• Insect-Based Robotics
• Legged Locomotion

詳細情報

• CRID: 1390001204725631616
• NII論文ID: 10012928398
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.22.492
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 6950396
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6950396
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可