Emergence of hysteresis in gait transition of a hexapod robot driven by nonlinear oscillators with phase resetting
Emergence of hysteresis in gait transition of a hexapod robot driven by nonlinear oscillators with phase resetting
复制标题
相位复位非线性振荡器驱动六足机器人步态转变中迟滞现象的出现
DOI：
10.1109/biorob.2012.6290733
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
and K. Tsuchiya
中科院分区：
文献类型：
--
作者：
S. Fujiki;S. Aoi;T. Kohda;K. Senda;and K. Tsuchiya
我们以前的工作已经揭示了一个四足机器人，其腿控制的非线性振荡器与相位复位，显示了步行-小跑过渡通过改变运动速度通过机器人的机械系统，振荡器控制系统和环境之间的动态相互作用引起的。此外，步态模式过渡表现出类似于在人类和动物的运动中观察到的滞后。在本研究中，我们将此动态分析的六足机器人模型，调查的滞后嵌入腿机器人系统的运动动力学的一般属性。我们的仿真结果表明，六足机器人产生异时步态和三足步态依赖于运动速度和步态过渡是由改变运动速度诱导。此外，步态过渡表现出类似于四足机器人的滞后。我们从动力学的角度研究了滞后的机制。
Our previous work has revealed that a quadruped robot, whose legs are controlled by nonlinear oscillators with phase resetting, shows a walk-trot transition induced by changing the locomotion speed through dynamic interactions among the robot's mechanical system, the oscillator control system, and the environment. Furthermore, the gait-pattern transition exhibited a hysteresis similar to that observed in the locomotion of humans and animals. In the present study, we apply this dynamic analysis to a hexapod robot model to investigate general properties of the hysteresis embedded in the locomotion dynamics of legged robotic systems. Our simulation results show that the hexapod robot produces the metachronal and tripod gaits depending on the locomotion speed and the gait transition is induced by changing the locomotion speed. In addition, the gait transition shows a hysteresis similar to the quadruped robot. We examined the mechanisms of the hysteresis from the perspective of dynamics.