2017 Fiscal Year Final Research Report
Examination and evaluation of the principle of gait patterns' generation of quadrupeds using simulation and robots
| Project/Area Number |
15K05887
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
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) |
2015-04-01 – 2018-03-31
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| Keywords | 歩行ロボット |
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| 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.
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| Free Research Field |
ロボティクス
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