「手応え関数」に基づく脚間協調制御則の8 脚ロコモーションへの適応性の検証

抄録

Legged animals exhibit adaptive and resilient locomotion through their interlimb coordination. Our long-term goal of this study is to develop a systematic design scheme for legged robots by elucidating the interlimb coordination mechanism of various legged animals from a unified viewpoint. Towards this goal, we previously proposed a systematic decentralized control scheme for hexapod locomotion based on a concept called “TEGOTAE”, a Japanese concept describing how well a perceived reaction matches an expectation. In this study, we investigate the applicability of the TEGOTAE-based control scheme to octopod locomotion. Simulations results showed that typical gait patterns of spiders and scorpions are well reproduced by changing the feedback gain.