Experimental verification of hysteresis in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting
Experimental verification of hysteresis in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting
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DOI：
10.1109/iros.2011.6094480
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
S. Aoi;S. Fujiki;Daiki Katayama;Tsuyoshi Yamashita;T. Kohda;K. Senda;K. Tsuchiya
中科院分区：
文献类型：
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作者：
S. Aoi;S. Fujiki;Daiki Katayama;Tsuyoshi Yamashita;T. Kohda;K. Senda;K. Tsuchiya
本文研究了四足机器人的运动问题，其腿由振荡器网络系统控制。在我们以前的工作中，仿真研究表明，四足机器人通过机器人的机械系统、振荡器网络系统和环境之间的动态相互作用来产生行走和小跑模式。这些研究还表明，改变行走速度会导致步行-快步的转变。此外，步态模式的转换表现出与人类和动物运动中观察到的相似的滞后。本研究的目的是通过开发和评估一个四足机器人来验证在真实世界中四足运动的步态生成中的动力学特性。
In this paper, we investigated the locomotion of a quadruped robot, whose legs are controlled by an oscillator network system. In our previous work, simulation studies revealed that a quadruped robot produces walk and trot patterns through dynamic interactions among the robot's mechanical system, the oscillator network system, and the environment. These studies also showed that a walk-trot transition is induced by changing the walking speed. In addition, the gait-pattern transition exhibited a hysteresis similar to that observed in the locomotion of humans and animals. The aim of the present study is to verify such dynamic characteristics in the gait generation of quadrupedal locomotion in the real world by developing and evaluating a quadruped robot.