抄録
A systematic way of designing autonomous decentralized control system is still missing, despite its appealing concept. In order to alleviate this, we have so far focused on serpentine locomotion, and have proposed a design scheme of interaction between the control and mechanical systems in which both the phasic and tonic control are taken into account. In this paper, we aim to verify the validity and universality of this design scheme by applying it to legged locomotion. In this study, we develop a quadruped robot whose movement is allowed only around the yaw and pitch axes. The experimental results show that the robot exhibits adaptive behavior against environmental changes due to the local sensory feedback control.
