2A1-A07 グローバルエントレインメントを生起させるCPGと身体の連関様式の設計方策 : 四脚ロボットを用いた事例研究

概要

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This paper aims to design CPG-based control from a minimalistic approach in order to gain a better understanding about how control and mechanical systems should be coupled so as to achieving the global entrainment. To this end, we deal with a quadruped robot as a practical example. Through modeling and simulations, we show that the following mechanisms are key to achieve the global entrainment: (1) a "compliant" mechanical structure that allows to generate a certain amount of discrepancy between control and mechanical systems, and (2) local sensory feedback based on ground reaction force. The results obtained are expected to shed a new light on design methodology for CPG-based decentralized locomotion control.
一般社団法人日本機械学会の論文