Suppression of Roll Oscillation in Turning of Quadruped Robot by Asymmetric Amplification of Central Pattern Generator Output Waveform

摘要

Quadruped robots experience excessive vibrations in the roll direction when turning by controlling their hip yaw joint. In the case of image-based teleoperation of the robot, the operator cannot aware the situation of the robot, due to excessive vibrations of the viewpoint of the image from the camera mounted on the robot. Especially, it is known that vibration in the roll direction is most likely to cause motion sickness. To overcome this problem, we proposed the asymmetric amplification of the output waveforms of central pattern generators. We implemented the proposed method on a robot in a dynamic simulator and verified the effectiveness of the proposed method, during the turning operation. As a result, we confirmed that the proposal method can suppress 43.7% vibration of the robot body in the roll direction and 7.4% vibration in the pitch direction compared with the conventional method.