CPGを用いた超多脚モジュールロボットの不整地歩行制御

―時定数の変更による脚速度変化を用いた脚間協調―

抄録

Control of many animals walking is prodused by their neural network called Central Pattern Generator (CPG). Therefore, Many researchers are studying research of legged-robot walking on irregular terrain by nerve-specific binding between the CPGs. However, if there is nerve-specific binding between the CPGs, there is a risk that failure of the part may lead to system outage. In this paper, In the sextupled robot, which is removal of the interlinb nerve-specific binding, each leg adjusts the own movement speed by successively changing the time constant from the ankle angle at the time of the landing or leaving. As a result, we propose the method of gain a cooperative operation such as the footstep, which kept their step pace. We verified the validity using a sextupled robot that was created on a simulator.