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Neural Control of Quadruped Robot for Autonomous Walking on Soft Terrain

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Book cover Distributed Autonomous Robotic Systems 5

Abstract

In the neurophysiology it has been clarified that some rhythm generators called the Central Pattern Generator (CPG) exists in animal locomotion. The CPG is able to generate various walking patterns without any previous plan and environment model. Using the CPG one can simplify the complicated walking system. In this paper, the CPG model for quadruped static walk is proposed and applied to the quadruped robot, TITAN-VIII. Moreover, we consider the irregular terrain as a walking environment with the sensor to recognize the softness of ground. By using the neural reflex control, it is shown that the robot can autonomously walk the soft terrain.

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References

  1. M. Kaneko, K. Tanie, E. Horiuchi. (1986) A Control Method for Multi-Legged Machine Walking over Soft Terrain — Based on the Consideration of Alternating Tripod Gait — (in Japanese), RSJ, Vol.4, No.3, 231–240.

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Author information

Authors and Affiliations

  1. Graduate School of Engineering, Hokkaido University, Sapporo, Hokkaido, 001-0008, Japan

    Shigenobu Shimada, Kosei Ishimura & Mitsuo Wada

  2. Graduate School of Engineering, Kanagawa University, Kanagawaku, Yokohama, 221-8686, Japan

    Tadashi Egami

Authors
  1. Shigenobu Shimada
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  2. Tadashi Egami
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  3. Kosei Ishimura
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  4. Mitsuo Wada
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Editor information

Editors and Affiliations

  1. Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, 351-0198, Wako-shi, Saitama, Japan

    Hajime Asama (Head of Instrumentation Project Promotion Division) (Head of Instrumentation Project Promotion Division)

  2. Department of Precision Machinery Engineering, The Unviersity of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

  3. Department of Micro System Engineering, Nagoya University, 464-8603, Furo-cho, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  4. Department of Intelligent Systems Graduate School of Information and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, 812-8581, Higaschi-ku, Fukuoka, Japan

    Tsutomu Hasegawa (Professor) (Professor)

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© 2002 Springer-Verlag Tokyo

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Cite this paper

Shimada, S., Egami, T., Ishimura, K., Wada, M. (2002). Neural Control of Quadruped Robot for Autonomous Walking on Soft Terrain. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_41

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  • DOI: https://doi.org/10.1007/978-4-431-65941-9_41

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-65943-3

  • Online ISBN: 978-4-431-65941-9

  • eBook Packages: Springer Book Archive

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