胴体の屈曲伸展運動と脚運動の協調により高速走行可能な四脚口ボットの開発

抄録

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.