2P2-K03 振動性・興奮性の自発的遷移に基づく適応的四脚歩行制御の実験的検証(移動知とその新展開)

概要

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This paper describes a novel CPG-based control of legged locomotion that enables stable and smooth transition between periodic and non-periodic motion. To this end, we have rethought the design principle of CPG-based control, through which we have concluded that exploiting merely (periodic) "oscillatory regime" is not sufficient for satisfying our requirements. Thus, we have employed an "active rotator model", which exhibits the "excitatory regime" as well as the oscillatory regime. To verify the validity of our proposed control scheme, we constructed a simple quadruped robot and performed locomotion experiments. As a result, we demonstrate the ability to exhibit stable transition between standing and walking motion. Very interestingly, this result strongly indicates that the proposed method enables significant stable transition by exploiting spontaneous transition between oscillatory and excitatory regimes.
一般社団法人日本機械学会の論文
2011-05-26