現存する脊椎動物の神経系を搭載した恐竜ロボットによる2足動歩行の実現

概要

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In this paper, we try to achieve biomimetic biped walking of a dinosaur-like robot, focusing on its nervous system as well as its mechanism. We have been developing a dinosaur robot “Raptetsu” based on the studies of dinosaurs on archaeology and also apply typical biomimetic locomotion control methods used for existing vertebrates for the robot. In detail, we utilize a CPG (Central Pattern Generator), which is a locomotion rhythm generator that exists in vertebrates spinal cord, to generate the robots walking rhythm. Moreover, reflex centers is set below the CPG in the spinal cord and produce joint torque of two legs in the swing and stance phases. Thus, we hope to produce an adaptive dynamic walking generated by interaction between the original mechanism of dinosaurs and existing animals nervous system and try to contribute to the understanding of dinosaurs locomotion on archaeology by observing and analyzing the dynamic walking experimental results.