Animal Gait Generation for Quadrupedal Robot

摘要

In the field of the pet robot and robot therapy, the creatural motion is important for the robots imitated the form of various animals. This paper presents the generation method of animal gait for quadrupedal robot. Here, we have employed AIBO as experimental quadrupedal robot and created the gait of AIBO in imitation of animal gait. At first, We have optimized the orbit of mono-leg, which can output propulsive force efficiently, by imitating dog gait and Genetic Algorithm. Moreover, We have generated the quadrupedal gait of AIBO using both the optimum orbit of mono-leg and 'Trot' gait, which is classified the gait of walking dog based on the zoology.