TAILIEUCHUNG - Adaptive Motion of Animals and Machines - Hiroshi Kimura et al (Eds) part 12

Tham khảo tài liệu 'adaptive motion of animals and machines - hiroshi kimura et al (eds) part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 220 Hiroshi Kimura Yasuhiro Fukuoka Fig. 1. tate transition in the virtual spring-damper system where yi is the output phase signal of a CPG. By connecting the CPG of each leg CPGs are mutually entrained and oscillate in the same period and with a fixed phase difference. This mutual entrainment between the CPGs of the legs results in a gait. We newly propose an asymmetric CPG network shown in in order to generate an arbitrary gait from a trot to a pace via a walk with a single network configuration of CPGs. In a CPG of a foreleg is inhibited by a CPG of a hindleg with a connecting weight and a CPG of a hindleg is not inhibited by a CPG of a foreleg. Necessary conditions for stable dynamic walking on irregular terrain We propose the necessary conditions for stable dynamic walking on irregular terrain which can be itemized in physical terms a the swinging legs should be free to move forward during the first period of the swing phase b the swinging legs should land reliably on the ground during the second period of the swing phase c the angular velocity of the supporting legs relative to the ground should be kept constant during their pitching motion around the contact points at the moment of landing or leaving d the phase difference between rolling motion of the body and pitching motion of legs should be maintained regardless of a disturbance from irregular terrain and e the phase differences between the legs should be maintained regardless of delay in the pitching motion of a leg receiving a disturbance from irregular terrain. Dynamics-Based Motion Adaptation for a Quadruped Robot 221 Reflexes and responses It is well known in physiology that some sensory stimuli modify CPG activity and reflexive responses to sensory stimuli are phase dependent under CPG activity 4 . Such interaction between CPG activity and a sensory stimulus is very important for adaptation and corresponds to the necessary conditions described in physical terms in Section

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