Author:
Ohnishi Takeo, ,Asakura Toshiyuki,
Abstract
This paper proposes a walking velocity control strategy based on autonomous walking form transition for a spider-robot. A creatural spider walks with changing velocity while adapting to the surrounding conditions. With reference to neurobiological control, we realize autonomous transitions of walking forms. Further, we realize velocity control which adapts to information input from both internal and external sources using the Neuro-Fuzzy method. Through simulations and experiments, we confirm the usefulness of the proposed technique.
Publisher
Fuji Technology Press Ltd.
Subject
Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction
Reference17 articles.
1. F. Delcomyn, “Foundations of Neurobiology,” Nankado.Co., Ltd., 2000 (in Japanese).
2. S. Hirose, E. F. Fukushima, and K. Kato, “Automation Technology for Humanitarian Demining Task,” JRSJ, Vol.19, No.6, pp. 722-727, 2001 (in Japanese).
3. H. Adachi, N. Koyachi, T. Arai, K. Homma, Y. Shinohara, and K. Nishimura, “Semi-Autonomous Walking Based on Leg Transition at the Border of the Leg Work Space,” JRSJ, Vol.16, No.3, pp. 329-336, 1998 (in Japanese).
4. K. Nonami, and Q.-J. Huang, “Humanitarian Mine Detection Six-Legged Walking Robot COMET-II with Two Manipulators,” 2000 (in Japanese).
5. K. Yoneda, H. Iiyama, and S. Hirose, “Intermitted Trot Gait of Quadruped walking Machine – Dynamic Stability Control of an Omnidirectional Walk,” JRSJ, Vol.14, No.6, pp. 881-886, 1996 (in Japanese).
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献