前後脚の非対称性に着目した四脚歩行ロボットのシミュレーションによる歩容解析

抄録

Quadruped animals exhibit variety gait patterns, and they have an anterior-posterior asymmetric structure in their their body. This study aims to clarify what kind of influence of the asymmetry between their front and hind legs on their gaits of quadruped locomotion. We built a quadruped walking robot simulator using Open Dynamics Engine (ODE). Each leg of the robot was controlled by independent phase oscillators and implemented TEGOTAE-based control, which could generate a variety of gaits by using the interaction between its body and the environment. Results of walking simulations conducted changing its leg length show that the transitions of leg phase is different based on the asymmetry.