Neural control of quadruped robot for autonomous walking on soft terrain

被引：0
|
作者：
Shimada, S [1 ]
Egami, T [1 ]
Ishimura, K [1 ]
Wada, M [1 ]
机构：
[1] Hokkaido Univ, Grad Sch Engn, Sapporo, Hokkaido 0010008, Japan
来源：
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5 | 2002年
关键词：
CPG; ground recognition sensor; reflex; soft terrain; center of gravity;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the neurophysiology it has been clarified that some rhythm generators called the Central Pattern Generator (CPG) exists in animal locomotion. The CPG is able to generate various walking patterns without any previous plan and environment model. Using the CPG one can simplify the complicated walking system. In this paper, the CPG model for quadruped static walk is proposed and applied to the quadruped robot, TITAN-VIII. Moreover, we consider the irregular terrain as a walking environment with the sensor to recognize the softness of ground. By using the neural reflex control, it is shown that the robot can autonomously walk the soft terrain.
引用
收藏
页码：415 / 423
页数：9
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