2014 Fiscal Year Final Research Report
Analysis of the gait generation principle of quadrupeds by a simulated quadruped model and a robot
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 |
Research Field |
Biological physics/Chemical physics/Soft matter physics
Intelligent mechanics/Mechanical systems
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Research Institution | Ibaraki University |
Principal Investigator |
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Project Period (FY) |
2013-04-01 – 2015-03-31
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Keywords | Quadruped model / Locomotion / CPG / Simulation study / Quadurped robot |
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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Free Research Field |
Robotics
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