20912 不整地移動を目的とした四脚式ロボットのCPGによる歩行制御 : 第二報小型四脚式ロボットにおける歩行の実現(ロボティクス(3):歩行ロボットの開発,OS12 ロボティクス)

概要

論文の詳細を見る
In recent years, CPG (Central Pattern Generator)modelled on animals is attracting attentions as a suitable control technique for legged robots. The CPG network is considered to be effective to make the legged robot capable of adjusting its gait on uneven terrain. However, the CPG network requires a number of parameters to be decided for application. In this paper we propose a CPG network for a four legged robot, constructed a simulator to try out various combinations of parameters to find a suitable set, and show that with a certain set of parameters the proposed CPG network successfully generated satisfactly gait for the four legged robot.
社団法人日本機械学会の論文
2006-03-09