ArticleProceedings. Biological sciences2021
Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running.
Article in Proceedings. Biological sciences, 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.
- Stability and manoeuvrability in animal movement: lessons from biology, modelling and robotics.Proceedings. Biological sciences · 2022Article
- Three Characteristics of Cheetah Galloping Improve Running Performance Through Spinal Movement: A Modeling Study.Frontiers in bioengineering and biotechnology · 2022Article
- Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running.Proceedings. Biological sciences · 2021Article
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Authors and funding
6 authors.
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Abstract
Quadrupeds exhibit versatile and adaptive running by exploiting the flying phase during the stride cycle. Various interlimb coordination mechanisms focusing on mechanical loads during the stance phase have been proposed to understand the underlying control mechanism, and various gait patterns have been reproduced. However, the essential control mechanism required to achieve both steady running patterns and non-steady behaviours, such as jumping and landing, remains unclear. Therefore, we focus on the vertical motions of the body parts and propose a new decentralized interlimb coordination mechanism. The simulation results demonstrate that the robot can generate efficient and various running patterns in response to the morphology of the body. Furthermore, the proposed model allows the robot to smoothly change its behaviour between steady running and non-steady landing depending on the situation. These results suggest that the steady and non-steady behaviours in quadruped adaptive running may share a common simple control mechanism based on the mechanical loads and vertical velocities of the body parts.
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