Quadruped gait transition from walk to pace to rotary gallop by exploiting head movement

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

3 Citations (Scopus)

Abstract

The manner in which quadrupeds change their locomotion patterns with change in speed is poorly understood. In this paper, we demonstrate spontaneous gait transition by using a quadruped robot model with a head segment, for which leg coordination can be self-organized through a simple “central pattern generator” (CPG) model with a postural reflex mechanism. Our model effectively makes use of head movement for the gait transition, suggesting that head movement is crucial for the reproduction of the gait transition to high-speed gaits in quadrupeds.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
EditorsNathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
PublisherSpringer Verlag
Pages532-539
Number of pages8
ISBN (Print)9783319424163
DOIs
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
Duration: 2016 Jul 192016 Jul 22

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9793
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
CountryUnited Kingdom
CityEdinburgh
Period16/7/1916/7/22

Keywords

  • Central pattern generator (CPG)
  • Head movement
  • Interlimb coordination
  • Physical communication
  • Postural reflex

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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