著者

木村 浩 秋山 征一 桜間 一彰

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.16, no.8, pp.1138-1145, 1998-11-15

参考文献数

23

被引用文献数

31 12

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In the present study we attempt to induce a quadruped robot to walk dynamically on irregular terrain and run on flat terrain by using a neural system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscillator network, a stretch reflex and a flexor reflex. Stable dynamic walking when obstructions to swinging legs are present is made possible by the flexor reflex and the crossed stretch reflex. A modification of the single driving input to the neural oscillator network makes it possible for the robot to walk up a step. For running on flat terrain, we combine a spring mechanism and the neural oscillator network. It became clear in this study that the matching of two oscillations by springs and the neural oscillator network is important in enabling the robot to hopping. The present study also shows that entrainment between neural oscillators causes the running gait to change from hopping to bouncing. This finding renders running fairly easy to attain in a bounce gait. It must be noticed that the flexible and robust dynamic walking on irregular terrain and the transition of the running gait are realized by the modification of a few parameters in the neural oscillator network. This finding, obtained through experiments using the quadruped called Patrush, shows the potential ability of a neural oscillator network to facilitate adaptation in dynamic walking and running.