４脚シミュレーションモデルを用いた左右非対称歩容における運動姿勢改善手法の検討

抄録

This study aims to achievement stable running by a quadruped robot with an asymmetrical gait. The gait is classified into a symmetrical gait represented by a trot and an asymmetrical gait represent by a gallop. In the development of previous quadruped robot, autonomous gait transition from trotting to galloping has been achieved. It implemented a control method in which the central pattern generator (CPG) outputs were used as the motion rhythm and the desired angle of the PD control was switched based on the output. However, when the gait transitioned to gallop, the running posture was disturbed and the straightness decreased. The reason for this was that the leg trajectories of each leg were the same. As a result of generating the leg trajectory according to the gait based on the CPG, the straightness during galloping was improved.