Dynamic locomotion of a biomorphic quadruped 'Tekken' robot using various gaits: Walk, trot, free-gait and bound

被引：57

作者：

Fukuoka, Y. ^{[1
]}

Kimura, H. ^{[2
]}

机构：

[1] Department of Intelligent Systems, College of Engineering, Ibaraki University, Hitachi-shi, Ibaraki 316-8511

[2] Division of Mechanical and System Engineering, Kyoto Institute of Technology, Graduate School of Science and Technology, Sakyo-ku, Kyoto 606-8585, Matsugasaki-Goshokaido-tyo

来源：

Applied Bionics and Biomechanics | 2009年 / 6卷 / 01期

关键词：

Central pattern generator; Dynamic walking; Legged locomotion gait; Quadruped robot; Running;

D O I：

10.1080/11762320902734208

中图分类号：

学科分类号：

摘要：

Numerous quadruped walking and running robots have been developed to date. Each robot walks by means of a crawl, walk, trot or pace gait, or runs by means of a bound and/or gallop gait. However, it is very difficult to design a single robot that can both walk and run because of problems related to mechanisms and control. In response to this, we adapted a biological control method for legged locomotion in order to develop a dog-like quadruped robot we have named 'Tekken'. Tekken has a control system that incorporates central pattern generators, reflexes and responses as well as a mechanism that makes the most of the control system. Tekken, which is equipped with a single mechanism, an unchangeable control method, and modifiable parameters, is capable of achieving walking and trotting on flat terrain, can walk using a free gait on irregular terrain, and is capable of running on flat terrain using a bounding gait. In this paper, we describe the mechanism, the control method and the experimental results of our new development.

引用

页码：63 / 71

页数：8

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