Simulation of a Walking Control System with a Leg Length Adaptation

カテゴリ: 部門大会

論文No: SS1-5

グループ名: 【C】2022年電気学会電子・情報・システム部門大会

発行日: 2022/08/24

タイトル(英語): Simulation of a Walking Control System with a Leg Length Adaptation

著者名: 前田 一成（和歌山大学）,中嶋 秀朗（和歌山大学）

著者名(英語): Issei Maeda (Wakayama University),Shuro Nakajima (Wakayama University)

キーワード: 脚式ロボット|CPG|適応適応|Legged robot|CPG|adaptation

要約(日本語): In design of a walking robot, a control system needs suitable control parameters for a robot body. Unsuitable control parameters for the body make an unstable walk. On the other hand, animals adapt to an animals' body. Evolution and growth change the animals’ body. Animals’ control systems adapt to these changes. The purpose of this study is building a control system with body adaptation on basis on the animals' system. We propose an adjustment of leg motions depending on a torso state while walking. In this paper, a robot adjusts joint angles to a torso posture while walking. We test this adjustment by a simulation. In the simulation, quadrupedal robots had same initial control parameter and different leg length. As a result, the adjustment reduced rocking torso in walking.