We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Decentralized Control Mechanism Underlying Morphology-Dependent Quadruped Turning.
- Authors
Amaike, Hayato; Fukuhara, Akira; Kano, Takeshi; Ishiguro, Akio
- Abstract
Quadruped mammals can control the movement of their center of gravity when turning by skillfully utilizing their bodies to achieve adaptive turning movements. Interestingly, the low-speed turning behavior also changes depending on the animal's morphology. Therefore, this study aims to understand the control algorithm of low-speed turning, which can reproduce the turning behavior according to the location of the center of gravity. Specifically, we constructed a control algorithm based on the knowledge that animals steer with the leg closest to the center of gravity and verified it with a quadruped robot whose center of gravity could be adjusted. Consequently, the behavior observed in animals was successfully reproduced, with a stable and large turning angle per time when the proposed control algorithm was used.
- Subjects
ANIMAL morphology; CENTER of mass; ANIMAL behavior
- Publication
Journal of Robotics & Mechatronics, 2023, Vol 35, Issue 5, p1290
- ISSN
0915-3942
- Publication type
Article
- DOI
10.20965/jrm.2023.p1290