Communications of the ACM
Quadruped Robot Exhibits Spontaneous Changes in Step with Speed
Tohoku University researchers have found that by changing only its parameter related to speed, a four-legged robot can spontaneously change its steps between energy-efficient patterns.
Credit: Tohoku University
Researchers from Tohoku University in Japan have successfully demonstrated that by changing only its parameter related to speed, a quadruped robot can spontaneously change its steps between energy-efficient patterns, known as gait transition phenomena.
The researchers achieved this breakthrough 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.
In addition, the researchers confirmed the energy-efficiency profile of the robot's gait patterns matched those measured in horses.
They say the study could lead to better understanding of the mechanism of how quadrupeds can flexibly and efficiently adjust their gait when their speed is changed.
The researchers hope the study will lead to a wide range of applications, such as adaptive legged robots that can be used in search-and-rescue operations.
From Tohoku University
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