ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-G01
会議情報

ネコの腰-足首間の反射を再現した四脚ロボットによるペース・トロット歩容の創発
*上田 佳明増田 容一
著者情報
キーワード: Quadruped robot, gait, reflex
会議録・要旨集 認証あり

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抄録

Animals can change their behavior adaptively in diverse environments. In this study, we developed a small quadruped robot that can reproduce the reflexive behavior of animals to investigate why quadruped animals exhibit specific gaits. We construct reflex circuits based on the results of previous experiments on walking cats. In walking experiments, the robot exhibited pace and trot gaits, depending on parameters about a motor angle. The contribution of this study is showing that the quadruped robot can exhibit two gaits only with reflex control of each leg. These results suggest that leg length parameters may change the gait pattern of animals.

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© 2023 一般社団法人 日本機械学会
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