文章基本信息

标题：Three-dimensional walking of a simulated muscle-driven quadruped robot with neuromorphic two-level central pattern generators
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作者：Yasushi Habu ; Keiichiro Uta ; Yasuhiro Fukuoka 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2019
卷号：16
期号：6
页码：1-19
DOI：10.1177/1729881419885288
出版社：SAGE Publications
摘要：We aim to design a neuromorphic controller for the locomotion of a quadruped robot with muscle-driven leg mechanisms. To this end, we use a simulated cat model; each leg of the model is equipped with three joints driven by six muscle models incorporating two-joint muscles. For each leg, we use a two-level central pattern generator consisting of a rhythm generation part to produce basic rhythms and a pattern formation part to synergistically activate a different set of muscles in each of the four sequential phases (swing, touchdown, stance, and liftoff). Conventionally, it was difficult for a quadruped model with such realistic neural systems and muscle-driven leg mechanisms to walk even on flat terrain, but because of our improved neural and mechanical components, our quadruped model succeeds in reproducing motoneuron activations and leg trajectories similar to those in cats and achieves stable three-dimensional locomotion at a variety of speeds. Moreover, the quadruped is capable of walking upslope and over irregular terrains and adapting to perturbations, even without adjusting the parameters.
关键词：Simulated quadruped walking robot ; 3;D robust walking ; simulation study ; two;level central pattern generators ; muscle;driven legs