４脚ロボットにおける自律歩容遷移とそれに伴うロバスト性の向上

抄録

This study aims to develop a quadruped robot capable of walking and running at various speeds based on biological concepts. The quadruped robot is equipped with a mathematical central pattern generator (CPG), consisting of four coupled neural oscillators, basically producing a trot pattern. The system based on biological concepts contains sensory feedback to the CPG, measuring the body tilt. This spontaneously gives rise to an unprogrammed walk at low speeds, a gallop at high speeds, in addition to trot at medium speeds. We also confirmed the robustness improvement using the system. We assume that the oscillations of the four legs produced by the CPG and the body oscillation varying according to the current speed are synchronized along with the varied phase differences to keep balance during locomotion through postural adaptation via sensory feedback. As a result, each gait was created and the robustness improved.