Biologically-inspired adaptive dynamic walking of the quadruped onirregular terrain

摘要

We attempt to induce a quadruped robot to walk dynamically onirregular terrain by using a neural system model. In the paper, in orderto realize walking on irregular terrain, we propose thebiologically-inspired control method consisting of four levels, theseare: “adaptive control using a muscle stiffness model”,“adaptive control based on vestibular sensation”,“parameters adjustment based on somatic sensation and reflexescoordination based on vestibular sensation”, and “motionswitching based on visual information”. As results of basicexperiments of each level, we show that a robot can walk on a singlebump, and walk up and dozen a slope by using such adaptive controlmethod. We also show that the functions as a lower controller in theDrew's physiological model for leg control mechanism based on visualinformation are satisfied by a CPG characterized by mutual entrainmentwith a musculo-skeletal system, automatic interpolation, and selfstabilization. These findings suggest a simple method for producingautonomous adaptive dynamic walking on terrain of high degreeirregularity