DocumentCode :
2099033
Title :
Towards 3D adaptive dynamic walking of a quadruped robot on irregular terrain by using neural system model
Author :
Kimura, H. ; Fukuoka, Y. ; Konaga, K. ; Hada, Y. ; Takase, K.
Author_Institution :
Graduate Sch. of Inf. Syst., Univ. of Electro-Commun., Chofu, Japan
Volume :
4
fYear :
2001
fDate :
2001
Firstpage :
2312
Abstract :
We are trying to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model. In our previous study, we integrated several reflexes into a CPG (central pattern generator) and realized adaptive 2D walking on terrain of medium degree of irregularity. In this paper, in order to make the role of a CPG be clear, we investigate the relation between parameters of a CPG and the mechanical system by simulations and experiments. In addition, we show a newly developed quadruped robot, of which mechanism is designed to make adaptive 3D walking on irregular terrain be realized more simply. At this moment, 3D walking on flat terrain is realized by using a neural system model consisting of CPG and reflexes
Keywords :
adaptive control; legged locomotion; neurocontrollers; 3D adaptive dynamic walking; CPG; adaptive 2D walking; central pattern generator; irregular terrain; neural system model; quadruped robot; Animals; Biological system modeling; Cities and towns; Hip; Knee; Leg; Legged locomotion; Mechanical systems; Neurons; Oscillators;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
Type :
conf
DOI :
10.1109/IROS.2001.976415
Filename :
976415
Link To Document :
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