頭部運動を活用した四脚ロボットのWalk-Pace-Rotaly gallop間歩容遷移

抄録

Quadruped exhibit versatile gait patterns according to locomotion speed, environment, and animal species. Such locomotor patterns are generated through coordination between leg movements, i.e., “interlimb coordination.” Although various studies have been conducted so far, the mechanism responsible for interlimb coordination remains elusive. Here, we investigate the effect of head motion on quadruped gait transition to high speed gait patterns. Through simulations using a simple quadruped robot with the head, we reproduced gait transition from walk to pace, to rotary gallop by exploiting head movement.