| Budget Amount *help |
¥20,280,000 (Direct Cost: ¥15,600,000、Indirect Cost: ¥4,680,000)
Fiscal Year 2015: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2014: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
Fiscal Year 2013: ¥9,230,000 (Direct Cost: ¥7,100,000、Indirect Cost: ¥2,130,000)
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| Outline of Final Research Achievements |
The purpose of this study was to understand the mechanism underlying quadruped locomotion from a unified viewpoint. To this end, we aimed to establish a design principle for both controller and morphology of quadruped robot via reproduction of various gait patterns observed in actual quadrupeds.
As a result, we demonstrated that spontaneous quadruped gait transition from walk, trot, to gallop could be achieved with the use of load sensing only, without any preprogrammed gait patterns. Furthermore, we confirmed the modification of dynamical structure in gait transition by using 3 dimensional data from motion capture system.
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