Listen to body's message: Quadruped robot that fully exploits physical interaction between legs
Listen to body's message: Quadruped robot that fully exploits physical interaction between legs
复制标题
倾听身体的信息：充分利用腿部之间物理相互作用的四足机器人
DOI：
10.1109/iros.2012.6385857
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
A. Ishiguro
中科院分区：
文献类型：
--
作者：
D. Owaki;Leona Morikawa;A. Ishiguro
在四足动物中观察到取决于运动速度、环境条件和动物种类的多种步态模式。运动模式是通过肢体间协调产生的，该协调部分由称为“中央模式生成器”（CPG）的椎内神经网络控制。然而，目前对于自适应肢体间协调机制还没有明确的认识。我们假设肢间协调应该更多地依赖于身体腿部运动之间的“物理”相互作用，而不是肢间神经连接。为了理解协调机制，我们开发了一种结构简单的四足机器人，并提出了一种非常规的 CPG 模型，该模型由四个解耦振荡器组成，每条腿仅具有局部力反馈。实验结果表明，我们的 CPG 模型使机器人能够表现出稳定的步态模式、对身体特性变化的适应性以及步行和小跑之间的自适应步态转换。我们的机器人模仿真实四足动物的运动模式，随后它可以捕获自适应肢体间协调的基本机制。
Versatile gait patterns that depend on the locomo- tion speed, environmental conditions, and animal species are observed in quadrupeds. Locomotor patterns are generated via the interlimb coordination, which is partially controlled by an intraspinal neural network called the “central pattern generator” (CPG). However, there is currently no clear understanding of the adaptive interlimb coordination mechanism. We hypothesize that the interlimb coordination should rely more on the “physical” interaction between leg movements through the body rather than the interlimb neural connection. To understand the coordination mechanism, we developed a simple-structured quadruped robot and proposed an unconventional CPG model that consists of four decoupled oscillators with only local force feedback in each leg. Experimental results show that our CPG model allows the robot to exhibit steady gait patterns, adaptability to changes in body properties, and adaptive gait transition between walking and trotting. Our robot mimics locomotor patterns of real quadrupeds following which it can capture the basic mechanism underlying the adaptive interlimb coordination.