自律分散システムのシミュレーションを用いた歩容の検討

抄録

This study provides a dynamic simulator aiming for stable operation of an autonomous distributed system. Multiple linked single-leg units were modeled in ROS/Gazebo, enabling the emergence of walking functionality by autonomously synchronizing leg movements. Adjusting contact parameters at the foot-ground contact point allowed for accurate simulation of real-world movements. This study constructed an environment to evaluate walking performance of an autonomous distributed system.