神経振動子を用いた4足歩行ロボット「鉄犬4」による不整地動的旋回運動の実現(機械力学,計測,自動制御)

概要

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We have tried to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We so far reported our experimental results of dynamic walking on terrains of medium degrees of irregularity with quadruped robots Tekken 1 & 2. We design the mechanical system and the neural system by comparing biological concepts. The neural system model consists of a CPG (central pattern generator), stretch reflex center, other reflexes and responses. In this paper, we show the experimental result of turning motion on the irregular terrain as a voluntary movement of newly developed self-contained quadruped robot "Tekken4". Tekken4 turns dynamically with a small turning radius by inclining the body toward the center of rotation. In addition, Tekken4 autonomously adapts the phase difference between right and left legs by rolling motion feedback to CPGs so called "tonic labyrinthine response". This response makes Tekken4 be able to walk on the irregular terrain while turning.
社団法人日本機械学会の論文
2006-12-25