ID 45331
Title Transcription
カンキョウ ニンシキ キノウ オ ユウスル ニンゲン キョウゾンガタ キャクシキ ロボット ノ カイハツ
Title Alternative
Development of Human Beings Coexistence Type Quadruped Robot with Environment Recognition Functions
Author
Kamano, Takuya Department of Electrical and Electronic Engineering,Faculty of Engineering
Yasuno, Takashi Department of Electrical and Electronic Engineering,Faculty of Engineering Tokushima University Educator and Researcher Directory KAKEN Search Researchers
Nishio, Yoshifumi Department of Electrical and Electronic Engineering,Faculty of Engineering Tokushima University Educator and Researcher Directory KAKEN Search Researchers
Keywords
Quadruped robot
CentralPattern Generator (CPG)
Unleveled walking environment
Content Type
Departmental Bulletin Paper
Description
This paper describes a human beings coexistence type quadruped robot with environment
recognition functions. To develop the excellent quadruped robot, thea daptive gait patterns
on the level and unleveled walking environments are required. In this research, CPGs (Central
Pattern Generators) are introduced to generate the gait pattern on level walking environment.
The CPGs are mutually connected each other, and the sets of the coupling parameters are
adjusted by genetic algorithm so that the quadruped robot can realize stable and adequate
gait patterns. As ar esult of generation,the suitable CPG networks for aw alking straight, a
right and a left rotation gait patterns is obtained on the level walking environment. On the
other hand, the geometric calculations method is introduced to keep the quadruped robot stable
on unleveled walking environment. Experimental results demonstrate that effectiveness of the
proposed schemes on both environments.
Journal Title
徳島大学工学部研究報告
ISSN
03715949
NCID
AA1221470X
Publisher
徳島大学.工学部
Volume
50
Published Date
2005-03-01
EDB ID
FullText File
language
jpn
departments
Science and Technology