Biologically Inspired Adaptive Dynamic Walking of a Quadruped Robot

摘要

We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical system and the neural system by comparing biological concepts with those necessary conditions described in physical terms. PD-controller at joints constructs the virtual spring-damper system as the visco-elasticity model of a muscle. The neural system model consists of a CPG (central pattern generator), reflexes and responses. A CPG generates rhythmic motion for walking. A CPG receives sensory input and changes the period of its own active phase as responses. The virtual spring-damper system also receives sensory input and outputs torque as reflexes. The states in the virtual spring-damper system are switched based on the phase signal of the CPG. The physical oscillations such as the motion of the virtual spring-damper system of each leg and the rolling motion of the body are mutually entrained with the neural oscillations of CPGs. Consequently, the adaptive walking is generated by the interaction with environment. In this paper, we report our experimental results of dynamic walking on terrains of medium degrees of irregularity in order to verify the effectiveness of the designed neuro-mechanical system.