Towards 3D adaptive dynamic walking of a quadruped robot on irregular terrain by using neural system model

摘要

We are trying to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model. In our previous study, we integrated several reflexes into a CPG (central pattern generator) and realized adaptive 2D walking on terrain of medium degree of irregularity. In this paper, in order to make the role of a CPG be clear, we investigate the relation between parameters of a CPG and the mechanical system by simulations and experiments. In addition, we show a newly developed quadruped robot, of which mechanism is designed to make adaptive 3D walking on irregular terrain be realized more simply. At this moment, 3D walking on flat terrain is realized by using a neural system model consisting of CPG and reflexes.