期刊
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷 16, 期 6, 页码 -出版社
SAGE PUBLICATIONS INC
DOI: 10.1177/1729881419885288
关键词
Simulated quadruped walking robot; 3-D robust walking; simulation study; two-level central pattern generators; muscle-driven legs
类别
资金
- Japan Society for the Promotion of Science [18K11489]
- Ibaraki University
- Grants-in-Aid for Scientific Research [18K11489] Funding Source: KAKEN
We aim to design a neuromorphic controller for the locomotion of a quadruped robot with muscle-driven leg mechanisms. To this end, we use a simulated cat model; each leg of the model is equipped with three joints driven by six muscle models incorporating two-joint muscles. For each leg, we use a two-level central pattern generator consisting of a rhythm generation part to produce basic rhythms and a pattern formation part to synergistically activate a different set of muscles in each of the four sequential phases (swing, touchdown, stance, and liftoff). Conventionally, it was difficult for a quadruped model with such realistic neural systems and muscle-driven leg mechanisms to walk even on flat terrain, but because of our improved neural and mechanical components, our quadruped model succeeds in reproducing motoneuron activations and leg trajectories similar to those in cats and achieves stable three-dimensional locomotion at a variety of speeds. Moreover, the quadruped is capable of walking upslope and over irregular terrains and adapting to perturbations, even without adjusting the parameters.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据