環境認識機能を有する人間共存型脚式ロボットの開発

概要

論文の詳細を見る
This paper describes a human beings coexistence type quadruped robot with environmentrecognition functions. To develop the excellent quadruped robot, thea daptive gait patternson the level and unleveled walking environments are required. In this research, CPGs (CentralPattern Generators) are introduced to generate the gait pattern on level walking environment.The CPGs are mutually connected each other, and the sets of the coupling parameters areadjusted by genetic algorithm so that the quadruped robot can realize stable and adequategait patterns. As ar esult of generation，the suitable CPG networks for aw alking straight, aright and a left rotation gait patterns is obtained on the level walking environment. On theother hand, the geometric calculations method is introduced to keep the quadruped robot stableon unleveled walking environment. Experimental results demonstrate that effectiveness of theproposed schemes on both environments.
徳島大学の論文