Abstract We have been trying to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model consisting of a CPG (central pattern generator) and reflexes. In this paper, we define adaptive walking using a neural system model as “coupled-dynamics-based motion generation”, in which a neural system and a mechanical system are coupled and generate motion by interacting with the environment emergently and adaptively. In order to clarify how a CPG is coupled to a mechanical system, we use simulations to investigate the relationship between the parameters of a CPG and the dynamics of the mechanical system. We propose the essential conditions for stable dynamic walking on irregular terrain in general, and we design a neural system by comparing biological knowledge with the essential conditions described in physical terms. We report our experimental results of dynamic walking on terrains of medium degrees of irregularity using a planar quadruped robot and a newly developed three-dimensional quadruped robot. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Using a Neural System Model


    Contributors:


    Publication date :

    2003-01-01


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Biologically inspired adaptive dynamic walking of the quadruped on irregular terrain

    Kimura, H. / Fukuoka, Y. / Nakamura, H. | British Library Conference Proceedings | 2000


    QUADRUPED WALKING ROBOT

    KAMON MASAYUKI / KATO TATSUHIKO / YUKIZAKI SO | European Patent Office | 2023

    Free access

    QUADRUPED WALKING ROBOT

    KAMON MASAYUKI / KATO TATSUHIKO / YUKIZAKI SO | European Patent Office | 2023

    Free access

    Adaptive Gait for Quadruped Walking Robot Using Force Sensor

    Adachi, H. / Koyachi, N. / Nakamura, T. et al. | British Library Conference Proceedings | 1993


    Robot leg walking mechanism and quadruped robot

    ZHU DONG / FANG XIANGMING / SONG WEN et al. | European Patent Office | 2025

    Free access