2P1-H02 Experimental Verification of Quadruped Gait Transition Based on CPG Control That Fully Exploits Physical Interaction between Legs(Mobiligence)

Abstract

This paper describes an unconventional CPG-based control of quadruped locomotion that enables spontaneous gait transition by fully exploiting physical interaction between legs. To verify the validity of our proposed control scheme, we constructed a simple quadruped robot and conducted experiments. Experimental results show that the robot exhibits the spontaneous gait transition between walking and trotting. Very interestingly, this result strongly indicates that the proposed control scheme enables significantly stable gait transition without any interlimb neural connections.