Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Most quadruped robots move mainly by limb motions. In contrast, quadrupeds, such as cheetah and greyhound, achieve ultra high-speed locomotion by coordinating body and limb motions, i.e., body-limb coordination. Therefore, clarifying the body-limb coordination mechanism will help to improve a robot’s agility. In our previous work, we proposed a simple two-dimensional mathematical model that coordinates body and limb motions autonomously and successfully reproduced high-speed locomotion via simulations and robot experiments. As a next step, we extended this two-dimensional model into the three-dimensional model and developed a quadruped robot to verify the proposed control scheme.
