Understanding Mechanism of Quadruped Locomotion from Unified Viewpoint
Project/Area Number |
25709033
|
Research Category |
Grant-in-Aid for Young Scientists (A)
|
Allocation Type | Partial Multi-year Fund |
Research Field |
Control engineering/System engineering
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Research Institution | Tohoku University |
Principal Investigator |
Owaki Dai 東北大学, 電気通信研究所, 助教 (40551908)
|
Project Period (FY) |
2013-04-01 – 2016-03-31
|
Project Status |
Completed (Fiscal Year 2015)
|
Budget Amount *help |
¥20,280,000 (Direct Cost: ¥15,600,000、Indirect Cost: ¥4,680,000)
Fiscal Year 2015: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2014: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
Fiscal Year 2013: ¥9,230,000 (Direct Cost: ¥7,100,000、Indirect Cost: ¥2,130,000)
|
Keywords | 四脚動物 / 歩容 / CPG / 身体特性 / 歩容遷移 / 力学構造 / ヒステリシス / 安定性解析 / リターンマップ / CPGモデル / 基本モード |
Outline of Final Research Achievements |
The purpose of this study was to understand the mechanism underlying quadruped locomotion from a unified viewpoint. To this end, we aimed to establish a design principle for both controller and morphology of quadruped robot via reproduction of various gait patterns observed in actual quadrupeds. As a result, we demonstrated that spontaneous quadruped gait transition from walk, trot, to gallop could be achieved with the use of load sensing only, without any preprogrammed gait patterns. Furthermore, we confirmed the modification of dynamical structure in gait transition by using 3 dimensional data from motion capture system.
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Report
(4 results)
Research Products
(21 results)