四脚走行ロボットの視覚適応シミュレーション

抄録

Full et al. mentioned that it is important to use two dynamic models for considering principle about legged locomotion of“Target”like animals or legged robot. One is the simplest model of Target without any accessories like muscles, and is called“ Template ”. It must exhibit targeted behavior. Another is called “ Anchor ”, more similar to Target. It must have characteristics of behavior of Template. We target“ Kurama ”, the robot we developed, and simulate that running robot avoids obstacles like hole with SLIP model. That assumes using visual adaptation. And we consider about the relation between stability of forward speed and the placement of loading leg and control of attacking angle of leg. We propose the method of avoiding obstacles, last evasion fore or hind and avoid 1-step before. It is Template simulation. So, it is needed to simulate Anchor model. We carry out simulation of Kurama using ”Webots”.