Emergence of a quadrupedal bound gait as interaction among the brain, body and environment

摘要

We consider that both neural system and musculoskeletal system play important roles in emergence of quadrupedal gaits since legged locomotion is emergingly induced by the coupled dynamics of neural system and musculoskeletal system by interacting with the environment. In this article, we report an experimental study using a quadruped robot to investigate the mechanism behind the emergence of quadrupedal gaits.