2014年5月24日
1A1-V02 不思議な歩容Canterの発現メカニズム(自律分散型ロボットシステム)
ロボティクス・メカトロニクス講演会講演概要集
- ,
- 巻
- 2014
- 号
- 開始ページ
- "1A1
- 終了ページ
- V02(1)"-"1A1-V02(2)"
- 記述言語
- 日本語
- 掲載種別
- 出版者・発行元
- 一般社団法人日本機械学会
Many quadrupeds change their gait from a walk to a trot, and finally, to a gallop depending on the locomotion speed. These locomotion patterns are generated via the coordination between limbs, i.e., interlimb coordination, and are partly controlled by an intraspinal neural network called the central pattern generator (CPG). However, a proper understanding of interlimb coordination mechanism remains elusive. Here, we demonstrate the gait transition experiments with a simple quadruped robot, which limbs are coordinated by an unconventional CPG model that we previously proposed. By only changing a parameter of locomotion speed, our robot exhibited spontaneous gait transition from a walk to a trot, and then to a bound, even in the absence of direct neural interaction between the oscillators of the CPG. Very interestingly, we found a canter -an asymmetric, three-beat gait- in the transition from a trot to a bound. In this paper, we discuss the generation mechanism of canter gait.
- リンク情報
-
- CiNii Articles
- http://ci.nii.ac.jp/naid/110009968673
- CiNii Books
- http://ci.nii.ac.jp/ncid/AA11902933
- ID情報
-
- CiNii Articles ID : 110009968673
- CiNii Books ID : AA11902933