513 Driving at Resonance Point of Multi-Degree-of-Freedom System by Decentralized Control : Realizing Gait Patterns of Quadrupeds Using Natural Vibration

Abstract

Quadruped animals naturally choose most efficient gait pattern when they walk. This paper validates realizing gait patterns of quadrupeds using natural vibration by experimental apparatus. At first, We make experimental apparatus imitated bodily structure of quadruped and evidence that it has natural vibration mode similar to the gait patterns (trot, pace, gallop) of quadruped animals. Next, with localized feedback controller mounted in experimental apparatus, it can excite the resonance modes (trot, pace, gallop) of self-excited vibration by addition to the mechanical signal and efficient driving.