Gait Transition of Quadruped Robot without Interlimb Neural Connections
نویسندگان
چکیده
Quadrupeds exhibit versatile gait patterns (walk, trot, pace, bound, etc.) in response to locomotion speed [1, 2]. These locomotor patterns are generated via the coordination between limb movements, i.e., interlimb coordination. However, the interlimb coordination mechanism for the generation of such locomotor patterns requires further investigation because it has not been clarified thus far.
منابع مشابه
Simple robot suggests physical interlimb communication is essential for quadruped walking.
Quadrupeds have versatile gait patterns, depending on the locomotion speed, environmental conditions and animal species. These locomotor patterns are generated via the coordination between limbs and are partly controlled by an intraspinal neural network called the central pattern generator (CPG). Although this forms the basis for current control paradigms of interlimb coordination, the mechanis...
متن کاملDynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
متن کاملWhy do quadrupeds exhibit exclusively either trot or pace gaits?
Quadrupeds exhibit versatile gait patterns (walk, trot, pace, bound, etc.), in response to the locomotion speed and environmental conditions [1]. Furthermore, in the middle speed locomotion, quadrupeds exhibit “exclusively” either trot or pace gaits; horses exhibit a tort gait, whereas camels exhibit a pace gait. These locomotor patterns are generated via the coordination of limb movements, i.e...
متن کاملCPGs With Continuous Adjustment of Phase Difference for Locomotion Control Regular Paper
The central pattern generator (CPG) has been found to be a real, existing neuron controller for the locomotion control of animals and it has been used on bio‐inspired robots widely in recent years. However, research on the adaptability of CPG‐based locomotion control methods is still a challenge. In particular, the performance of the CPG method on qua...
متن کاملDynamic walking and running of the quadruped using neural oscillator
In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on at terrain by using a nervous system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch re ex and a exor re ex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the exor ...
متن کامل