Title :
Emergence of a quadrupedal bound gait as interaction among the brain, body and environment
Author :
Masuda, Toshiki ; Kimura, Hiroshi ; Takase, Kunikatsu
Author_Institution :
Grad. Sch. of Inf. Syst., Univ. of Electro-Commun., Chofu
Abstract :
We consider that both neural system and musculoskeletal system play important roles in emergence of quadrupedal gaits since legged locomotion is emergingly induced by the coupled dynamics of neural system and musculoskeletal system by interacting with the environment. In this article, we report an experimental study using a quadruped robot to investigate the mechanism behind the emergence of quadrupedal gaits.
Keywords :
robots; coupled dynamics; musculoskeletal system; neural system; quadruped robot; quadrupedal bound gait; Costs; Electrical stimulation; Energy consumption; Information systems; Legged locomotion; Musculoskeletal system; Oscillators; Physiology; Rhythm; Robots; Bound gait; Emergence of gaits; Quadruped robot;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655086
