TY - GEN
T1 - Quadruped gait transition from walk to pace to rotary gallop by exploiting head movement
AU - Suzuki, Shura
AU - Owaki, Dai
AU - Fukuhara, Akira
AU - Ishiguro, Akio
N1 - Funding Information:
D. Owaki—We acknowledge the support of a JSPS KAKENHI Grant-in-Aid for Young Scientists (A) (25709033).
Publisher Copyright:
© Springer International Publishing Switzerland 2016.
PY - 2016
Y1 - 2016
N2 - The manner in which quadrupeds change their locomotion patterns with change in speed is poorly understood. In this paper, we demonstrate spontaneous gait transition by using a quadruped robot model with a head segment, for which leg coordination can be self-organized through a simple “central pattern generator” (CPG) model with a postural reflex mechanism. Our model effectively makes use of head movement for the gait transition, suggesting that head movement is crucial for the reproduction of the gait transition to high-speed gaits in quadrupeds.
AB - The manner in which quadrupeds change their locomotion patterns with change in speed is poorly understood. In this paper, we demonstrate spontaneous gait transition by using a quadruped robot model with a head segment, for which leg coordination can be self-organized through a simple “central pattern generator” (CPG) model with a postural reflex mechanism. Our model effectively makes use of head movement for the gait transition, suggesting that head movement is crucial for the reproduction of the gait transition to high-speed gaits in quadrupeds.
KW - Central pattern generator (CPG)
KW - Head movement
KW - Interlimb coordination
KW - Physical communication
KW - Postural reflex
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U2 - 10.1007/978-3-319-42417-0_58
DO - 10.1007/978-3-319-42417-0_58
M3 - Conference contribution
AN - SCOPUS:84978859563
SN - 9783319424163
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 532
EP - 539
BT - Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
A2 - Lepora, Nathan F.
A2 - Mura, Anna
A2 - Desmulliez, Marc
A2 - Mangan, Michael
A2 - Verschure, Paul F.M.J.
A2 - Prescott, Tony J.
PB - Springer Verlag
T2 - 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Y2 - 19 July 2016 through 22 July 2016
ER -