Title :
Towards a general neural controller for 3D quadrupedal locomotion
Author :
Maufroy, Christophe ; Kimura, Hiroshi ; Takase, Kunikatsu
Author_Institution :
Grad. Sch. of Inf. Syst., Univ. of Electro-Commun., Chofu
Abstract :
Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits. The controller design phase is carried out using simulation. This paper reports the simulation of steady walking at 0.6 m/s of both the forelegs only and the hind legs only (with a supporting structure at the back and at the front respectively), achieved using our quadrupedal model.
Keywords :
control system synthesis; legged locomotion; neurocontrollers; 3D quadrupedal locomotion controller design; neural controller; quadrupedal model; Control systems; Information systems; Joints; Leg; Legged locomotion; Motion control; Muscles; Musculoskeletal system; Robots; Skeleton; CPG; Neural Controller; Quadruped; Simulation;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655085
