TY - GEN
T1 - Decentralized Coordination Mechanism between Neck and Limbs for Efficient Quadrupedal Walking
AU - Fukuhara, Akira
AU - Suzuki, Shura
AU - Kano, Takeshi
AU - Ishiguro, Akio
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by Japan Science and Technology Agency, CREST (JPMJCR14D5).
Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - An optional robotic arm unit, like animals' neck, allows quadruped robot to achieve multifunctional tasks such as manipulation and patrol. However, increases in body weight due to the neck unit will make energetic issues in legged robots' locomotion more serious. This study presents a minimal decentralized coordination mechanism between a neck and limbs, especially focusing on quadruped mammals' nodding behaviors for efficient walking. The results of two dimensional (2D) simulation suggest that bilateral sensory feedback mechanism between neck and limbs plays essential roles for the quadruped robot to coordinate neck and limbs in response to the physical situation of the body parts, achieving efficient quadrupedal walking.
AB - An optional robotic arm unit, like animals' neck, allows quadruped robot to achieve multifunctional tasks such as manipulation and patrol. However, increases in body weight due to the neck unit will make energetic issues in legged robots' locomotion more serious. This study presents a minimal decentralized coordination mechanism between a neck and limbs, especially focusing on quadruped mammals' nodding behaviors for efficient walking. The results of two dimensional (2D) simulation suggest that bilateral sensory feedback mechanism between neck and limbs plays essential roles for the quadruped robot to coordinate neck and limbs in response to the physical situation of the body parts, achieving efficient quadrupedal walking.
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U2 - 10.1109/IROS40897.2019.8967619
DO - 10.1109/IROS40897.2019.8967619
M3 - Conference contribution
AN - SCOPUS:85081166346
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1715
EP - 1720
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -