Brainless Walking: Animal Gaits Emerge From an Actuator Characteristic.

autonomous decentralized control gait analysis legged robot motion control motors oscillator quadruped robot vibration

Journal

Frontiers in robotics and AI
ISSN: 2296-9144
Titre abrégé: Front Robot AI
Pays: Switzerland
ID NLM: 101749350

Informations de publication

Date de publication:
2021
Historique:
received: 15 11 2020
accepted: 08 04 2021
entrez: 17 5 2021
pubmed: 18 5 2021
medline: 18 5 2021
Statut: epublish

Résumé

In this study, we discovered a phenomenon in which a quadruped robot without any sensors or microprocessor can autonomously generate the various gait patterns of animals using actuator characteristics and select the gaits according to the speed. The robot has one DC motor on each limb and a slider-crank mechanism connected to the motor shaft. Since each motor is directly connected to a power supply, the robot only moves its foot on an elliptical trajectory under a constant voltage. Although this robot does not have any computational equipment such as sensors or microprocessors, when we applied a voltage to the motor, each limb begins to adjust its gait autonomously and finally converged to a steady gait pattern. Furthermore, by raising the input voltage from the power supply, the gait changed from a pace to a half-bound, according to the speed, and also we observed various gait patterns, such as a bound or a rotary gallop. We investigated the convergence property of the gaits for several initial states and input voltages and have described detailed experimental results of each gait observed.

Identifiants

pubmed: 33996924
doi: 10.3389/frobt.2021.629679
pii: 629679
pmc: PMC8117010
doi:

Types de publication

Journal Article

Langues

eng

Pagination

629679

Informations de copyright

Copyright © 2021 Masuda, Naniwa, Ishikawa and Osuka.

Déclaration de conflit d'intérêts

The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. The handling editor declared a past co-authorship with one of the authors KO.

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Auteurs

Yoichi Masuda (Y)

Department of Mechanical Engineering, Osaka University, Suita, Japan.

Keisuke Naniwa (K)

Research Institute for Electronic Science, Hokkaido University, Sapporo, Japan.

Masato Ishikawa (M)

Department of Mechanical Engineering, Osaka University, Suita, Japan.

Koichi Osuka (K)

Department of Mechanical Engineering, Osaka University, Suita, Japan.

Classifications MeSH