A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping

Abstract The manner in which quadrupeds change their locomotive patterns—walking, trotting, and galloping—with changing speed is poorly understood. In this paper, we provide evidence for interlimb coordination during gait transitions using a quadruped robot for which coordination between the legs ca...

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Autores principales:	Dai Owaki, Akio Ishiguro
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2017
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/90a21442c4e747f19a9ebc2593b560f2
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spelling	oai:doaj.org-article:90a21442c4e747f19a9ebc2593b560f22021-12-02T11:51:13ZA Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping10.1038/s41598-017-00348-92045-2322https://doaj.org/article/90a21442c4e747f19a9ebc2593b560f22017-03-01T00:00:00Zhttps://doi.org/10.1038/s41598-017-00348-9https://doaj.org/toc/2045-2322Abstract The manner in which quadrupeds change their locomotive patterns—walking, trotting, and galloping—with changing speed is poorly understood. In this paper, we provide evidence for interlimb coordination during gait transitions using a quadruped robot for which coordination between the legs can be self-organized through a simple “central pattern generator” (CPG) model. We demonstrate spontaneous gait transitions between energy-efficient patterns by changing only the parameter related to speed. Interlimb coordination was achieved with the use of local load sensing only without any preprogrammed patterns. Our model exploits physical communication through the body, suggesting that knowledge of physical communication is required to understand the leg coordination mechanism in legged animals and to establish design principles for legged robots that can reproduce flexible and efficient locomotion.Dai OwakiAkio IshiguroNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 7, Iss 1, Pp 1-10 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Dai Owaki Akio Ishiguro A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping
description	Abstract The manner in which quadrupeds change their locomotive patterns—walking, trotting, and galloping—with changing speed is poorly understood. In this paper, we provide evidence for interlimb coordination during gait transitions using a quadruped robot for which coordination between the legs can be self-organized through a simple “central pattern generator” (CPG) model. We demonstrate spontaneous gait transitions between energy-efficient patterns by changing only the parameter related to speed. Interlimb coordination was achieved with the use of local load sensing only without any preprogrammed patterns. Our model exploits physical communication through the body, suggesting that knowledge of physical communication is required to understand the leg coordination mechanism in legged animals and to establish design principles for legged robots that can reproduce flexible and efficient locomotion.
format	article
author	Dai Owaki Akio Ishiguro
author_facet	Dai Owaki Akio Ishiguro
author_sort	Dai Owaki
title	A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping
title_short	A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping
title_full	A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping
title_fullStr	A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping
title_full_unstemmed	A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping
title_sort	quadruped robot exhibiting spontaneous gait transitions from walking to trotting to galloping
publisher	Nature Portfolio
publishDate	2017
url	https://doaj.org/article/90a21442c4e747f19a9ebc2593b560f2
work_keys_str_mv	AT daiowaki aquadrupedrobotexhibitingspontaneousgaittransitionsfromwalkingtotrottingtogalloping AT akioishiguro aquadrupedrobotexhibitingspontaneousgaittransitionsfromwalkingtotrottingtogalloping AT daiowaki quadrupedrobotexhibitingspontaneousgaittransitionsfromwalkingtotrottingtogalloping AT akioishiguro quadrupedrobotexhibitingspontaneousgaittransitionsfromwalkingtotrottingtogalloping
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A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping

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