四脚歩行ロボットの最適歩行パターンに関する一考察

辻田 勝吉; 重弘 祐二; 増田 達也

doi:10.11511/jacc.48.0.159.0

48th Proceedings of the Japan Joint Automatic Control Conference

Session ID : G2-43

DOI https://doi.org/10.11511/jacc.48.0.159.0

Conference information

Host: The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Japan Society of Mechanical Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 43 Socies and Institutes

A Study on Optimal Gait Pattern of a Quadruped Locomotion Robot

*KATSUYOSHI TSUJITA, YUJI SHIGEHIRO, TATUYA MASUDA

Author information

Keywords: Quadruped locomotion robot, Gait pattern, Optimization, Simulated annealing method

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

This article deals with the optimal gait pattern ofa quadruped locomotion robot. The locomotion of the robot is drivenby a control system with an oscillator network to generate adequategait patterns for various locomotion conditions. The phase differenceamong the oscillators is selected as the optimization variable. Theduty ratio is selected as the optimization parameter. The performanceindex is constructed as a quadratic form of the input torque vector atthe joints. The simulated annealing (SA) method is used as theoptimization algorithm and numerically derived the optimal gaitpatterns according to the various duty ratios.

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