Realization of Dynamic Turning Motion on Irregular Terrain of a Quadruped Robot "TEKKEN4" with Neural Oscillators

摘要

We have tried to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We so far reported our experimental results of dynamic walking on terrains of medium degrees of irregularity with quadruped robots Tekken 1&2. We design the mechanical system and the neural system by comparing biological concepts. The neural system model consists of a CPG (central pattern generator), stretch reflex center, other reflexes and responses. In this paper, we show the experimental result of turning motion on the irregular terrain as a voluntary movement of newly developed self-contained quadruped robot “Tekken 4”. Tekken 4 turns dynamically with a small turning radius by inclining the body toward the center of rotation. In addition, Tekken 4 autonomously adapts the phase difference between right and left legs by rolling motion feedback to CPGs so called “tonic labyrinthine response”. This response makes Tekken 4 be able to walk on the irregular terrain while turning.