| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
|
|---|
| Outline of Final Research Achievements |
It is known that quadruped animals can switch their gaits from walking to trotting to galloping according to speed, but the mechanism is still not revealed even in biology. In this study, we built a simulated quadruped modeled on a cat with nervous system called the two-level central pattern generators that could produce the rhythm of locomotion and demonstrated that it could achieve autonomous gait transition between walking and trotting. In addition, we built a hind-limb biped robot driven by artificial muscles and demonstrated that it could perform stepping motions with the CPG model.
|
