TY - GEN
T1 - Jumping rhythm generator by CPG for a multi-legged robot
AU - Ikeda, Masaaki
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
PY - 2011/12/1
Y1 - 2011/12/1
N2 - Three features of a legged robot are listed as the discrete disposition of supported legs, the flexible posture without changing disposition of supported legs, and the obstacle avoidance with a three dimensional behavior. The maximum height of an avoidable obstacle is defined by the leg mechanism of a robot. The capability of obstacle avoidance is improved by a jumping motion. In this paper, we discuss the rhythmic jumping of a multi-legged robot using the central pattern generator (CPG). Authors propose the construction method of CPG for six legged robot, in which each leg has a compressed spring. The effectiveness of the present method is illustrated by some simulations.
AB - Three features of a legged robot are listed as the discrete disposition of supported legs, the flexible posture without changing disposition of supported legs, and the obstacle avoidance with a three dimensional behavior. The maximum height of an avoidable obstacle is defined by the leg mechanism of a robot. The capability of obstacle avoidance is improved by a jumping motion. In this paper, we discuss the rhythmic jumping of a multi-legged robot using the central pattern generator (CPG). Authors propose the construction method of CPG for six legged robot, in which each leg has a compressed spring. The effectiveness of the present method is illustrated by some simulations.
KW - Central pattern generator
KW - Jumping robot
KW - Legged robot
KW - Robot simulator
UR - http://www.scopus.com/inward/record.url?scp=84866690163&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866690163&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84866690163
SN - 9784990288051
T3 - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
SP - 395
EP - 398
BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
T2 - 16th International Symposium on Artificial Life and Robotics, AROB '11
Y2 - 27 January 2011 through 29 January 2011
ER -