身体の支持と推進の「手応え」を活用する四脚ロボットの開発

抄録

Quadrupeds exhibit versatile gait patterns in response to morphology, environment conditions, and locomotion speed. The goal of this study is to understand the mechanism of adoptive interlimb coordination underlying quadrupeds. In our previous study, we designed interlimb coordination rule from the viewpoint of Tegotae from body support and propulsion. Tegotae is a Japanese concept describing how well a perceived reaction matches an expectation. As a result, we reproduced gait transition from walk to trot to gallop via two-dimensional simulations. In this study, we designed a physical quadruped robot in order to verify the proposed model in real world. Particularly, we focused on limb structures that can distinguish between vertical and horizontal components of ground reaction force. In addition, we designed compliance of the limbs for high speed locomotion.