Leg Stiffness Control Based on "TEGOTAE" for Quadruped Locomotion
Leg Stiffness Control Based on "TEGOTAE" for Quadruped Locomotion
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DOI：
10.1007/978-3-319-42417-0_8
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发表时间：
2016-07
期刊：
影响因子：
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通讯作者：
Akira Fukuhara;D. Owaki;Takeshi Kano;A. Ishiguro
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文献类型：
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作者：
Akira Fukuhara;D. Owaki;Takeshi Kano;A. Ishiguro
四足动物表现出自适应的肢体协调，以实现灵活和有效的运动。特别地，腿轨迹响应于运动速度而改变。本研究的目的是再现这种调制的腿轨迹，并了解控制机制的四足动物运动。我们主要集中在腿的刚度的调制，因为轨迹是在运动过程中腿和环境之间的相互作用的结果。在这项研究中，我们提出了一个“TEGOTAE”为基础的控制方案来调节腿部刚度。TEGOTAE是一个日本概念，描述了感知反应与预期反应相匹配的程度。通过使用该方案，脚的轨迹被修改，运动速度相应增加。
Quadrupeds exhibit adaptive limb coordination to achieve versatile and efficient locomotion. In particular, the leg-trajectory changes in response to locomotion speed. The goal of this study is to reproduce this modulation of leg-trajectory and to understand the control mechanism underlying quadruped locomotion. We focus primarily on the modulation of stiffness of the leg because the trajectory is a result of the interaction between the leg and the environment during locomotion. In this study, we present a “TEGOTAE”-based control scheme to modulate the leg stiffness. TEGOTAE is a Japanese concept describing the extent to which a perceived reaction matches the expected reaction. By using the presented scheme, foot-trajectories were modified and the locomotion speed increased correspondingly.