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Title: A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion.
Authors: Aoi, Shinya  kyouindb  KAKEN_id
Katayama, Daiki
Fujiki, Soichiro
Tomita, Nozomi
Funato, Tetsuro
Yamashita, Tsuyoshi
Senda, Kei  kyouindb  KAKEN_id
Tsuchiya, Kazuo
Author's alias: 青井, 伸也
Keywords: Quadruped
Walk–trot transition
Hysteresis
Stability
Legged robot
Central pattern generator
Potential function
Return map
Issue Date: Apr-2013
Publisher: The Royal Society
Journal title: Interface
Volume: 10
Issue: 81
Thesis number: 20120908
Abstract: Quadrupeds vary their gaits in accordance with their locomotion speed. Such gait transitions exhibit hysteresis. However, the underlying mechanism for this hysteresis remains largely unclear. It has been suggested that gaits correspond to attractors in their dynamics and that gait transitions are non-equilibrium phase transitions that are accompanied by a loss in stability. In the present study, we used a robotic platform to investigate the dynamic stability of gaits and to clarify the hysteresis mechanism in the walk-trot transition of quadrupeds. Specifically, we used a quadruped robot as the body mechanical model and an oscillator network for the nervous system model to emulate dynamic locomotion of a quadruped. Experiments using this robot revealed that dynamic interactions among the robot mechanical system, the oscillator network, and the environment generate walk and trot gaits depending on the locomotion speed. In addition, a walk-trot transition that exhibited hysteresis was observed when the locomotion speed was changed. We evaluated the gait changes of the robot by measuring the locomotion of dogs. Furthermore, we investigated the stability structure during the gait transition of the robot by constructing a potential function from the return map of the relative phase of the legs and clarified the physical characteristics inherent to the gait transition in terms of the dynamics.
Rights: © 2013 The Author(s) Published by the Royal Society.
この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。This is not the published version. Please cite only the published version.
URI: http://hdl.handle.net/2433/173349
DOI(Published Version): 10.1098/rsif.2012.0908
PubMed ID: 23389894
Appears in Collections:Journal Articles

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