Brainless Quasi-quadruped Robot Resembling Spinal Reflex and Force-Velocity Relationship of Muscles

Yoichi Masuda, Masato Ishikawa, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The aim of this study was to determine the conditions that allow for the generation of gait in quadruped animals using a brainless simple quasi-quadruped robot having two functions of quadruped animals. We included a reflex circuit and an actuator characteristics in the robot that were inspired by two animal functions, i.e., the spinal reflex (through the group I extensor afferent) and the force-velocity relationship of muscles. The robot, however, did not include a microprocessor or a gait generator. Our robot was able to reciprocate gait autonomously by adjusting phase differences between the limbs using only an analog reflex circuit and an actuator characteristics. Embedding two abovementioned functions in the robot allowed it to propel its body by adjusting the phase differences between the limbs.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings
EditorsUriel Martinez-Hernandez, Vasiliki Vouloutsi, Anna Mura, Michael Mangan, Tony J. Prescott, Minoru Asada, Paul F.M.J. Verschure
PublisherSpringer Verlag
Pages329-333
Number of pages5
ISBN (Print)9783030247409
DOIs
Publication statusPublished - 2019
Event8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019 - Nara, Japan
Duration: 2019 Jul 92019 Jul 12

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11556 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019
Country/TerritoryJapan
CityNara
Period19/7/919/7/12

Keywords

  • Actuator dynamics
  • Brainless control
  • Decentralized autonomous control
  • Quadruped robot
  • Reflex

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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