Journal of Japan Society for Fuzzy Theory and Intelligent Informatics
Online ISSN : 1881-7203
Print ISSN : 1347-7986
ISSN-L : 1347-7986
Original Papers
Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot
Hidekazu SUZUKIHitoshi NISHIKoji TAKI
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2009 Volume 21 Issue 5 Pages 653-662

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Abstract
In the field of pet robots and robot-assisted therapy (RAT), characterization of animal motion is important for the development of robots resembling various animals. This paper presents a method for the generation of animal gait in quadrupedal robots. In this study, we employed AIBO as an experimental quadrupedal robot and generated the gait of the robot on the basis of an animal's gait. First, we optimized the mono-leg orbit, which can efficiently output a propulsive force, by imitating a dog's gait using a genetic algorithm. Moreover, we generated the quadrupedal gait of AIBO using both the optimum orbit of the mono-leg and an animal's gait, classified as the gait of a walking dog based on zoology. Furthermore, we administered a questionnaire study to determine subjective human feelings to choose the best gait for AIBO from among the various gaits mentioned above. Finally, minor deviation of parameters for each joint was corrected to realize the stable gait on the ground.
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© 2009 Japan Society for Fuzzy Theory and Intelligent Informatics
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