モータ動特性を考慮したCPGネットワークによる4脚ロボットの歩行動作の生成  [in Japanese] Generation of Adaptive Gait Patterns for Quadruped Robot with CPG Network including Motor Dynamic Model  [in Japanese]

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Author(s)

    • 孫 悠洛 SON Yurak
    • 徳島大学工学部電気電子工学科 Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima
    • 鎌野 琢也 KAMANO Takuya
    • 徳島大学工学部電気電子工学科 Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima
    • 安野 卓 [他] YASUNO Takashi
    • 徳島大学工学部電気電子工学科 Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima
    • 鈴木 茂行 SUZUKI Takayuki
    • 徳島大学工学部電気電子工学科 Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima
    • 原田 寛信 HARADA Hironobu
    • 徳島大学工学部電気電子工学科 Department of Electric and Electronic Engineering, Faculty of Engineering, The University of Tokushima

Abstract

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environment. The CPGs act as the flexible oscillators of the joints and make the desired angle of the joints. The CPGs are mutually connected each other, and the sets of their coupling parameters are adjusted by genetic algorithm so that the quadruped robot can realize the stable and adequate gait patterns. As a result of generation, the suitable CPG networks for not only a walking straight gait pattern but also rotation gait patterns are obtained. Experimental results demonstrate that the proposed CPG networks are effective to automatically adjust the adaptive gait patterns for the tested quadruped robot under various environment. Furthermore, the target tracking control based on image processing is achieved by combining the generated gait patterns.

Journal

  • IEEJ Transactions on Electronics, Information and Systems

    IEEJ Transactions on Electronics, Information and Systems 124(10), 2148-2154, 2004-10-01

    The Institute of Electrical Engineers of Japan

References:  19

Cited by:  2

Codes

  • NII Article ID (NAID)
    10013641198
  • NII NACSIS-CAT ID (NCID)
    AN10065950
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    03854221
  • NDL Article ID
    7105750
  • NDL Source Classification
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL Call No.
    Z16-795
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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