ArticleFrontiers in robotics and AI2021
Brainless Walking: Animal Gaits Emerge From an Actuator Characteristic.
Article in Frontiers in robotics and AI, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed.
- Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots.Biomimetics (Basel, Switzerland) · 2024Article
- Editorial: Biological and Robotic Inter-Limb Coordination.Frontiers in robotics and AI · 2022Article
- Fast and Slow Adaptations of Interlimb CoordinationFrontiers in robotics and AI · 2021Article
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Authors and funding
4 authors.
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Abstract
In this study, we discovered a phenomenon in which a quadruped robot without any sensors or microprocessor can autonomously generate the various gait patterns of animals using actuator characteristics and select the gaits according to the speed. The robot has one DC motor on each limb and a slider-crank mechanism connected to the motor shaft. Since each motor is directly connected to a power supply, the robot only moves its foot on an elliptical trajectory under a constant voltage. Although this robot does not have any computational equipment such as sensors or microprocessors, when we applied a voltage to the motor, each limb begins to adjust its gait autonomously and finally converged to a steady gait pattern. Furthermore, by raising the input voltage from the power supply, the gait changed from a pace to a half-bound, according to the speed, and also we observed various gait patterns, such as a bound or a rotary gallop. We investigated the convergence property of the gaits for several initial states and input voltages and have described detailed experimental results of each gait observed.
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