Autonomous gait transition method for pacing four-legged robots
Autonomous gait transition method for pacing four-legged robots
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DOI：
10.1299/transjsme.18-00360
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Takahiro Fukui;Souichiro Matsukawa;Y. Fukuoka
中科院分区：
文献类型：
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作者：
Takahiro Fukui;Souichiro Matsukawa;Y. Fukuoka
本研究的目的是提出一种方法，实现自主步态过渡，根据速度的四足机器人在中速起搏。我们的四足机器人设计简单，并适用于每一条腿的中央模式发生器（CPG）。每个腿由PD控制器基于来自CPG的节奏输出来控制。四个CPG耦合，并且构建硬连线CPG网络以生成默认起搏模式。此外，我们将身体倾斜的反馈作为前庭感觉反馈应用于CPG。因此，我们的机器人安全地以各种速度运动，根据速度自主改变步态从步行到起搏到旋转疾驰，尽管步行和旋转疾驰是没有预定义的。引起步态出现的一个因素被认为是根据速度变化的身体振荡。身体振动在低速时表现出每条腿频率的双峰，在中速时没有峰值，在高速时表现出单峰。通过将身体倾斜反馈到CPG，根据身体振荡来调整四条腿之间的相位差。步态转换仅由身体倾斜角度触发，我们期望所提出的方法可以普遍用于四足机器人。
This study aims to suggest a method for achieving an autonomous gait transition according to speed for a four-legged robot pacing at medium speeds. Our quadruped robot is simply designed and applies a central pattern generator (CPG) for each leg. Each leg is controlled by a PD controller based on a rhythmic output from the CPG. The four CPGs are coupled, and a hard-wired CPG network is constructed to generate a default pace pattern. In addition, we apply feedback of the body tilt to the CPG as vestibular sensory feedback. As a result, our robot safely locomotes at various speeds by autonomously changing the gait from walking to pacing to rotary galloping according to speed, despite the fact that the walk and rotary gallop are not predefined. A factor that causes the gaits’ emergence is considered the body oscillation that changes according to the speed. The body oscillation exhibits a double peak per leg frequency at low speeds, no peak at medium speeds, and a single peak at high speeds. The phase differences between the four legs are adjusted according to the body oscillation by feeding the body tilt back to the CPG. The gait transition is triggered only by the body tilt angle, we expect that the suggested method can be generally used for quadruped robots.