Leg stiffness control based on “TEGOTAE” for quadruped locomotion

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Quadrupeds exhibit adaptive limb coordination to achieve versatile and efficient locomotion. In particular, the leg-trajectory changes in response to locomotion speed. The goal of this study is to reproduce this modulation of leg-trajectory and to understand the control mechanism underlying quadruped locomotion. We focus primarily on the modulation of stiffness of the leg because the trajectory is a result of the interaction between the leg and the environment during locomotion. In this study, we present a “TEGOTAE”-based control scheme to modulate the leg stiffness. TEGOTAE is a Japanese concept describing the extent to which a perceived reaction matches the expected reaction. By using the presented scheme, foot-trajectories were modified and the locomotion speed increased correspondingly.

本文言語English
ホスト出版物のタイトルBiomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
編集者Nathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
出版社Springer Verlag
ページ79-84
ページ数6
ISBN(印刷版)9783319424163
DOI
出版ステータスPublished - 2016
イベント5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
継続期間: 2016 7月 192016 7月 22

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
9793
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

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

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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