環境認識機能を有する人間共存型脚式ロボットの開発

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.