التفاصيل البيبلوغرافية
| العنوان: |
Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running. |
| المؤلفون: |
Akira Fukuhara, Yukihiro Koizumi, Tomoyuki Baba, Shura Suzuki, Takeshi Kano, Akio Ishiguro |
| المصدر: |
Proceedings of the Royal Society B: Biological Sciences; 11/10/2021, Vol. 288 Issue 1962, p1-10, 10p |
| مصطلحات موضوعية: |
VERTICAL motion, CENTRAL pattern generators, RUNNING speed, WALKING speed |
| مستخلص: |
Quadrupeds exhibit versatile and adaptive running by exploiting the flying phase during the stride cycle. Various interlimb coordination mechanisms focusing on mechanical loads during the stance phase have been proposed to understand the underlying control mechanism, and various gait patterns have been reproduced. However, the essential control mechanism required to achieve both steady running patterns and non-steady behaviours, such as jumping and landing, remains unclear. Therefore, we focus on the vertical motions of the body parts and propose a new decentralized interlimb coordination mechanism. The simulation results demonstrate that the robot can generate efficient and various running patterns in response to the morphology of the body. Furthermore, the proposed model allows the robot to smoothly change its behaviour between steady running and nonsteady landing depending on the situation. These results suggest that the steady and non-steady behaviours in quadruped adaptive running may share a common simple control mechanism based on the mechanical loads and vertical velocities of the body parts. [ABSTRACT FROM AUTHOR] |
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| قاعدة البيانات: |
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