Animal gait generation based on human feeling for quadrupedal robot

In the field of the pet robot and robot assisted therapy (RAT), the creatural motion is important for the robots imitated the form of various animals. This paper presents the generation method of animal gait for quadrupedal robot. Here, we have employed AIBO as experimental quadrupedal robot and created the gait of AIBO in imitation of animal gait. At first, We have optimized the orbit of mono-leg, which can output propulsive force efficiently, by imitating dog gait and genetic algorithm. Moreover, We have generated the quadrupedal gait of AIBO using both the optimum orbit of mono-leg and animalpsilas gait, which is classified the gait of walking dog based on the zoology. And furthermore, we have performed questionnaires to include the human feeling, and chosen the best gait for AIBOpsilas animal walking from among the above-mentioned various dogpsilas gait.