SICE SI2002 システムインテグレーション部門 講演会
会議情報
主催: (社）計測自動制御学会システムインテグレーション部門
生物の制御構造を模した階層型多脚歩行系
p. 7
詳細
主催: (社）計測自動制御学会システムインテグレーション部門
p. 7
“Caterpillar” is developed as a bio-mimetic multi-legged robot which can realize various walking pattern with respect to its environmental condition. The key techniques are: an autonomous distributed structure in the lower layer such as CPG and the vector field based coding method of desired body motion by weighted sum of basic motions. 3D dynamic simulations and experimental results show the effectiveness of our hierarchical structure.
