Biologically Inspired Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain. Adjustment based on somatic sensation and vestibular sensation.

摘要

We are trying to induce a quadruped robot to walk dynamically on irregular terrain by using a nervous system model. In this paper, we integrate several reflexes such as stretch reflex, vestibulospinal reflex, and extensor and flexor reflex into CPG (Central Pattern Generator) . We try to realize adaptive walking up and down a slope of 12 degrees, walking over an obstacle 3 [cm] in height, and walking on terrain undulation consisting of bumps 3 [cm] in height with fixed parameters of CPG and reflexes. The success in walking on such irregular terrain in spite of stumbling and landing on obstacles shows that the biologically inspired control proposed in this study has an ability of autonomous adaptation to unknown irregular terrain.