ID 45331
タイトルヨミ
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
タイトル別表記
Development of Human Beings Coexistence Type Quadruped Robot with Environment Recognition Functions
著者
鎌野, 琢也 徳島大学工学部電気電子工学科
キーワード
Quadruped robot
CentralPattern Generator (CPG)
Unleveled walking environment
資料タイプ
紀要論文
抄録
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.
掲載誌名
徳島大学工学部研究報告
ISSN
03715949
cat書誌ID
AA1221470X
出版者
徳島大学.工学部
50
発行日
2005-03-01
EDB ID
130030
フルテキストファイル
言語
jpn
部局
理工学系