Towards autonomous gait generation and transition in a quadruped

Projects

• (2019- ) Autonomous gait generation and transition in walking and running  using phase modulation based on hip flexion/extension & leg loading/unloading

  References
• T.G. Brown, Decerebrate Cat Movie (1939), in Video: The Basal Ganglia and Brainstem Locomotor Control edited by E. Garcia-Rill, 1989.
• Haken, H.: Principles of Brain Functioning, Springer-Verlag Berlin Heidelberg, 1996.
• Aoi, S., et al., A stability-based mechanism for hysteresis in the walk?trot transition in quadruped locomotion. J. Royal. Soc. Interface, vol.10, [doi:10.1098/rsif.20120908], 2013.

History and Abstract with movies and publications

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• 2022 Aug. -
  Emergence of Rhythm and Gait
  

Simulations & Publications


• I'm writing a paper .....
• AMAM2003

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• 2019 Jul. -
  We developed the quadruped robot Kurama which has a linear spring at each lower limb for jumping.
  

Results of experiments


• Running in the trot gait (MPG 5M)[Dec. 2020]
  (Posture control (roll and pitch) , hopping height control using leg loading and forward speed control)
• Running in the pronk gait (MPG 5M)[Sep. 2020]
  (Posture control (roll and pitch) , hopping height control using leg loading and forward speed control)
• Jumping in the pronk gait (MPG 3M)[Feb. 2020]
  (Adding energy manually, Using PD-control only, Jumping height=26[mm])

Publications

• Morikawa, S. and Kimura, H., Pronk and Trot Gait of a Quadruped Running Robot Utilizing a Linear Spring at each Lower Limb. Proc. of System Integration conf. of SICE, pp.1762-1767, 2020.12 (in Japanese).
• Morikawa, S. and Kimura, H., Development of a Quadruped Running Robot with Linear Springs at each Lower Limb. Proc. of Robotics and Mechatronics conf. of JSME, 2A2-L04, 2020.05 (in Japanese).