Three Dimensional Adaptive Walking of Quadruped Robot Using Sideways Sway Motion and Posture Reflex via Neural Oscillators

摘要

Legged locomotion has attracted many researchers' attention because it is very challenging to realize artificial systems which can generate the motion of legged animals with many degrees of freedom. Animals show marvellous autonomous adaptation abilities. It is well known that the motions of animals are controlled by internal nervous systems. In this paper, we propose a method to generate a three-dimensional locomotion based on structuring a simple model with neural oscillators, which generates locomotive patterns and sideways sway motion. The validity of the proposed method is verified using an autonomous quadruped robot.