形態に応じた四脚走行運動を発現可能な自律分散制御則

抄録

Quadrupeds exhibit a variety of running patterns by orchestrating the whole-body degrees of freedom (DOF). This excellent coordination mechanism inherent in quadruped locomotion has attracted much attention so far. However, previous studies have focused on specific animals, and there has been no unified discussion of their mechanisms. In this study, we propose a unified perspective underlying various quadruped running patterns, and a systematic design methodology for morphology-dependent whole-body DOF coordination mechanisms. For this purpose, we focused on the motion of the torso, having the majority of the body mass, and systematically constructed control laws for two body models: one with an active joint for head nodding, and the other with an active joint for body bending. As a result of the simulations, we successfully reproduced the running patterns depending on the body model.