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A Turning Gait Generating Network for a Hexapod Robot
| Content Provider | Semantic Scholar |
|---|---|
| Author | Iwase, Eiji Kato, S. Yasuda, Takashi Shimoyama, Isao |
| Copyright Year | 2004 |
| Abstract | This paper describes a gait generating network for a hexapod robot under various curvature turnings. Formica japonica Motschulsky, that is one of major ant with about 6 [mm] body length in Japan, was used for a gait analysis. Movements of the leg joints during free walking was recoded at 60 to 250 [frame/s] by a high-speed video camera. From the data, we found that the turning gaits were classified into two distinct patterns: a sharp turning gait in which case the radius of curvature is under 5 [mm], a gradual turning gait in which case that is 5 to 40 [mm]. A turning gait generating network, which was possible to generate each gait and to vary a radius of curvature, was devised. That is a neural network which is described by neurons and connections between them using excitation and inhibition. We made a hexapod robot with 3 DOF each leg and verified the accountability of the gait generating network using the robot. As a result, smooth and stable turning in different curvatures was achieved. |
| Starting Page | 492 |
| Ending Page | 498 |
| Page Count | 7 |
| File Format | PDF HTM / HTML |
| DOI | 10.7210/jrsj.22.492 |
| Volume Number | 22 |
| Alternate Webpage(s) | https://www.jstage.jst.go.jp/article/jrsj1983/22/4/22_4_492/_pdf |
| Alternate Webpage(s) | https://doi.org/10.7210/jrsj.22.492 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
