Gait Learning Method for Quadrupedal Robot Using Chaos Time-series Analysis

Abstract

In the field of pet robots and robot-assisted therapy (RAT), characterization of animal motion is important for the development of robots resembling various animals. This paper presents a method for the generation of animal gait in quadrupedal robots. In this study, we employed AIBO as an experimental quadrupedal robot and generated the gait of the robot on the basis of an animal’s gait and zoology. Moreover, we realized the stable gait on the ground by adjusting the minor deviation of parameters for each joint using chaotic time series analysis.