Biologically-inspired adaptive dynamic walking of the quadruped on irregular terrain

摘要

We attempt to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model. In the paper, in order to realize walking on irregular terrain, we propose the biologically-inspired control method consisting of four levels, these are: "adaptive control using a muscle stiffness model", "adaptive control based on vestibular sensation", "parameters adjustment based on somatic sensation and reflexes coordination based on vestibular sensation", and "motion switching based on visual information". As results of basic experiments of each level, we show that a robot can walk on a single bump, and walk up and dozen a slope by using such adaptive control method. We also show that the functions as a lower controller in the Drew's physiological model for leg control mechanism based on visual information are satisfied by a CPG characterized by mutual entrainment with a musculo-skeletal system, automatic interpolation, and self stabilization. These findings suggest a simple method for producing autonomous adaptive dynamic walking on terrain of high degree irregularity.