A The quadruped robot, Oscillex 3. B Reproduced changes in step (gait transition phenomenon). (Top) Change in the parameter related to speed (Bottom) The colors represent periods when a leg senses weight on the corresponding leg. The gait transition was demonstrated from walk to trot, to canter, to gallop. Credit: Akio Ishiguro
The research group of Professor Akio Ishiguro and Assistant Professor Dai Owaki of Tohoku University have, for the first time, successfully demonstrated that by changing only its parameter related to speed, a quadruped robot can spontaneously change its steps between energy-efficient patterns (gait transition phenomena).
Until now, the manner in which changing speeds cause quadrupeds to change their gaits - walking, trotting and galloping - is poorly understood. Through this study, the researchers successfully demonstrated the reproduction of the quadruped gait transition phenomena. They achieved this via a decentralized control scheme, using a simple local rule in which a leg continues to support the body while sensing weight on the corresponding leg.
Moreover, they confirmed that the energy-efficiency profile of the robot's gait patterns matched those measured in horses.
The present work is expected to lead to better understanding of the mechanism of how quadrupeds can flexibly and efficiently adjust their gait when their speed is changed. The result may constitute the basis of an unconventional approach to coordinating the many degrees of freedoms required for adaptive robot locomotion.
The research group of Professor Akio Ishiguro and Assistant Professor Dai Owaki of Tohoku University have, for the first time, successfully demonstrated that by changing only its parameter related to speed, a quadruped robot can spontaneously change its steps between energy-efficient patterns (gait transition phenomena). Credit: Akio Ishiguro
The researchers hope that the study will lead to a wide range of applications such as adaptive legged robots working in disaster areas, user-friendly legged entertainment robots, and automatic motion-creation algorithms for computer graphics (CG) animation.
Centralized control approach: A main computer governs all degrees of freedom (DoFs) on the body at all times to track the desired trajectory of each point, resulting in high computational cost and low adaptability to environmental changes. Decentralized control approach: Each local controller for a leg modulates its locomotor rhythm with the use of only local load sensing, resulting in low computational cost and high adaptability. Credit: Akio Ishiguro
More information:
Dai Owaki et al, A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping, Scientific Reports (2017). DOI: 10.1038/s41598-017-00348-9
Citation:
Quadruped robot exhibits spontaneous changes in step with speed (2017, March 22)
retrieved 25 June 2019
from https://phys.org/news/2017-03-quadruped-robot-spontaneous.html
This document is subject to copyright. Apart from any fair dealing for the purpose of private study or research, no
part may be reproduced without the written permission. The content is provided for information purposes only.
Please sign in to add a comment. Registration is free, and takes less than a minute.
Read more
What do you think about this particular story?
Your feedback will go directly to Science X editors.
E-mail the story
Quadruped robot exhibits spontaneous changes in step with speed
Your Privacy
This site uses cookies to assist with navigation, analyse your use of our services, and provide content from third parties.
By using our site, you acknowledge that you have read and understand our Privacy Policy
and Terms of Use.
User comments
Please sign in to add a comment. Registration is free, and takes less than a minute. Read more