Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain
Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain
复制标题
四足动物在不规则地形上的仿生自适应动态行走
DOI：
10.1109/iros.1999.811716
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
Hiroshi Kimura
中科院分区：
文献类型：
--
作者：
Y. Fukuoka;Hiroyuki Nakamura;Hiroshi Kimura
我们试图诱导一个四足机器人行走动态不规则地形，通过使用神经系统模型。为了实现在不规则地形上的行走，本文提出了由“基于肌肉刚度模型的自适应控制”、“基于前庭感觉的自适应控制”、“基于躯体感觉的参数调整和基于前庭感觉的反射协调”以及“基于视觉信息的运动切换”四个层次组成的仿生控制方法。作为各级基本实验的结果，我们表明，机器人可以走在一个单一的凸点，并步行和打一个斜坡，通过使用这种自适应控制方法。我们还表明，作为一个较低的控制器的功能，在德鲁的生理模型的腿控制机制的基础上的视觉信息得到满足的CPG，其特征在于相互夹带与肌肉骨骼系统，自动插值，和自稳定。这些研究结果提出了一种简单的方法，用于产生自主自适应动态行走的地形高度不规则。
We attempt to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model. In the paper, in order to realize walking on irregular terrain, we propose the biologically-inspired control method consisting of four levels, these are: "adaptive control using a muscle stiffness model", "adaptive control based on vestibular sensation", "parameters adjustment based on somatic sensation and reflexes coordination based on vestibular sensation", and "motion switching based on visual information". As results of basic experiments of each level, we show that a robot can walk on a single bump, and walk up and dozen a slope by using such adaptive control method. We also show that the functions as a lower controller in the Drew's physiological model for leg control mechanism based on visual information are satisfied by a CPG characterized by mutual entrainment with a musculo-skeletal system, automatic interpolation, and self stabilization. These findings suggest a simple method for producing autonomous adaptive dynamic walking on terrain of high degree irregularity.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T