Abstract
Quadrupeds exhibit adaptive limb coordination to achieve versatile and efficient locomotion. In particular, the leg-trajectory changes in response to locomotion speed. The goal of this study is to reproduce this modulation of leg-trajectory and to understand the control mechanism underlying quadruped locomotion. We focus primarily on the modulation of stiffness of the leg because the trajectory is a result of the interaction between the leg and the environment during locomotion. In this study, we present a “TEGOTAE”-based control scheme to modulate the leg stiffness. TEGOTAE is a Japanese concept describing the extent to which a perceived reaction matches the expected reaction. By using the presented scheme, foot-trajectories were modified and the locomotion speed increased correspondingly.
A. Fukuhara—This work was supported by JSPS KAKENHI Grant-in-Aid for JSPS Fellows (16J03825).
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Fukuhara, A., Owaki, D., Kano, T., Ishiguro, A. (2016). Leg Stiffness Control Based on “TEGOTAE” for Quadruped Locomotion. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2016. Lecture Notes in Computer Science(), vol 9793. Springer, Cham. https://doi.org/10.1007/978-3-319-42417-0_8
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DOI: https://doi.org/10.1007/978-3-319-42417-0_8
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