Understanding Mechanism of Quadruped Locomotion from Unified Viewpoint

2015 Fiscal Year Final Research Report

• Project/Area Number: 25709033
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Partial Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Tohoku University
• Principal Investigator: Owaki Dai 東北大学, 電気通信研究所, 助教 (40551908)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 四脚動物 / 歩容 / CPG / 身体特性

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.

Free Research Field

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