人とロボットの歩行同期に向けた神経振動子の視覚刺激への引き込みシミュレーション

摘要

This paper presents the first step of the authors plan to realize human-robot synchronizedwalking. Walk control of quadruped robot is carried out with neural oscillator. The walkpitch of quadruped robot is decided with oscillating cycle of neural oscillator. Vision subsystemextracts man's walk pitch by tracking man's heel. The extracted walk pitch data is sent to neuraloscillator. Neural oscillator is entrained by the extracted pitch.