| Project/Area Number |
25870084
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Biological physics/Chemical physics/Soft matter physics
Intelligent mechanics/Mechanical systems
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| Research Institution | Ibaraki University |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | Quadruped model / Locomotion / CPG / Simulation study / Quadurped robot / ４足モデル / シミュレーション / 移動パターン / ４足ロボット / 4足モデル / 歩容 / ＣＰＧ / ロコモーション |
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| Outline of Final Research Achievements |
It is well known that a quadruped changes its locomotion pattern called a gait (how to move its legs) from a walk to a trot to a gallop according to speed. It is reported in biology that these three gaits have already existed in an animal's nervous system, and that it switches the gaits according to speed to minimize energy for locomotion. However, it is not clear how each gait was developed in the nervous system. It was observed that an unprogrammed walk and an unprogrammed gallop emerged in our simulated quadruped model from a programmed trot, based on the varied body oscillation according to speed. In addition, we succeeded in the same result on a quadruped robot.
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