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dc.contributor.authorNakatsu, Shogoen
dc.contributor.authorMacedo Rosendo Silva, Andreen
dc.contributor.authorShimizu, Masahiroen
dc.contributor.authorHosoda, Kohen
dc.date.accessioned2015-10-07T13:35:36Z
dc.date.available2015-10-07T13:35:36Z
dc.date.issued2014-12-10en
dc.identifier.citationIEEE International Conference on Robotics and Biomimetics (ROBIO) 2014, 779 - 784. DOI: 10.1109/ROBIO.2014.7090426en
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/251351
dc.description.abstractAdaptability of quadruped animals is not solely reached by brain control, but by the interaction between its body, environment, and control. Especially, morphology of the body is supposed to contribute largely to the adaptability. We have tried to understand quadrupedal locomotion by building a bio-inspired quadruped robot named ”Pneupard”, which has a feline-like muscular-skeletal structure. In our previous study, we successfully realized alternative gait of hindlimbs by reflex control based on the sole touch information, which is called an unloading rule, and that of forelimbs as well. In this paper, we finally connect forelimbs and hindlimbs by a rigid spine, and conduct 3D walking experiments only with the simple unloading rule. Through several preliminary experiments, we realize that the touch information on the sole is the most critical for stable 3D walking.
dc.description.sponsorshipThis work was partially supported by Grant-in-Aid for Scientific Research on 23220004, 25540117 of Japan.
dc.languageEnglishen
dc.language.isoenen
dc.publisherIEEE
dc.titleRealization of Three-dimensional Walking of a Cheetah-modeled Bio-inspired Quadruped Roboten
dc.typeConference Object
dc.description.versionThis is the accepted manuscript. The final version is available at http://dx.doi.org/10.1109/ROBIO.2014.7090426.en
prism.endingPage784
prism.publicationDate2014en
prism.publicationNameIEEE International Conference on Robotics and Biomimetics (ROBIO) 2014en
prism.startingPage779
rioxxterms.versionofrecord10.1109/ROBIO.2014.7090426en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2014-12-10en
dc.contributor.orcidMacedo Rosendo Silva, Andre [0000-0003-4062-5390]
rioxxterms.typeConference Paper/Proceeding/Abstracten


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