テンセグリティ・スパインを搭載した四脚ロボットの脊柱剛性と歩容パターンの関係調査

抄録

Recent robots have been used in various environments and require complicated movements according to various environment. In particular, quadruped robots are expected to play a role of gaiting on rough terrain, however, it could be burden of that control systems is complicated. On the other hand, it has been suggested that the gait pattern generation of quadrupeds is related to the natural frequency of the musculoskeletal system. It is expected that the gait pattern generation is realized by the rhythmic movement of the whole body including the body and legs. To investigate the relationship between the spinal rigidity and gait patterns, we developed a simulation of numerical simulation of the actual four-legged robot with a tensegrity structure in the vertebral column and conducted a walking experiment. Experiments have displayed that it generated a gait pattern called a trot.