Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
This study aims to verify the effect of feedback of the body tilt angle around the roll axis on a quadruped robot equipped with an autonomous gait generation method. In a previous study, an autonomous gait transition in response to speed was achieved by feeding back the body tilt angle around the pitch axis to a central pattern generator (CPG). Furthermore, it was shown that the method also contributes to traversing uneven terrain. However, these experiments were limited to experiments in the sagittal plane and did not include feedback of the body tilt angle around the roll axis. Therefore, we conduct an experiment in which the body tilt angle around the roll axis is fed back to the CPG. As a result, the phase difference between the right and left legs is improved in the galloping, and it is possible to traverse uneven terrain with pacing.
