Decentralized Coordination Mechanism between Neck and Limbs for Efficient Quadrupedal Walking

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

Abstract

An optional robotic arm unit, like animals' neck, allows quadruped robot to achieve multifunctional tasks such as manipulation and patrol. However, increases in body weight due to the neck unit will make energetic issues in legged robots' locomotion more serious. This study presents a minimal decentralized coordination mechanism between a neck and limbs, especially focusing on quadruped mammals' nodding behaviors for efficient walking. The results of two dimensional (2D) simulation suggest that bilateral sensory feedback mechanism between neck and limbs plays essential roles for the quadruped robot to coordinate neck and limbs in response to the physical situation of the body parts, achieving efficient quadrupedal walking.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1715-1720
Number of pages6
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - 2019 Nov
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 2019 Nov 32019 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period19/11/319/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Decentralized Coordination Mechanism between Neck and Limbs for Efficient Quadrupedal Walking'. Together they form a unique fingerprint.

Cite this