In our previous work, we proposed a walking pattern generation method of four-legged by using mutual entrainment of four-coupled van der Pol(VDP) equations. Our method can control forward and turning motion of the robot by the walking pattern used the periodic solutions of VDP equations which synchronize with arbitrary phase differences. In this study, we describe about the gait control system that the robot can avoid obstacles by walking pattern varied in response to the environment of the robot.
４結合ＶＤＰ方程式を用いた４足歩行ロボットの歩容制御
SI2016_17_1549
(1.45MB)
