四脚ロボットの自律歩容生成と適応

抄録

In order to investigate gait generation and adaptation mechanism of animals, we propose a not mathematical but physical model connecting body dynamics and sensor feedback. In our previous study, we showed that CPG (leg controller) using leg loading/unloading for the leg phase transition can integrate rhythmic motion control and posture control. In this study, we intend to make a model of split-belt gait adaptation in decerebrate cats by cerebellum using a quadruped robot Kotetsu. As a result of experiments, we showed that inter-leg coordination mechanisms (ACM, CCM) and self-inhibition mechanism (SIM) play an important role in split-belt adaptation. While comparing gaits between decerebrate cats and Kotetsu, we found that our model is still not sufficient in spite of a significant similarity. Spec. and movies of Kotetsu can be seen at http://www.robotlocomotion.kit.ac.jp/kotetsu/index-j.html.