Dynamic Walking on Irregular Terrain and Running on Flat Terrain of the Quadruped Using Neural Oscillator.

Abstract

In the present study we attempt to induce a quadruped robot to walk dynamical ly on irregular ter- rain and run on at terrain by using a nervous system model. For dynamic walking on irregular terrain, we employ a control system involving a neural oscil lator network, a stretch reex and a exor reex. Stable dy- namic walking when obstructions to swinging legs are present is made possible by the exor reex and the crossed extension reex. A modi cation of the single driving input to the neural oscil lator network makes it possible for the robot to walk up a step. For running on at terrain, we combine a spring mechanism and the neural oscil lator network. It became clear in this study that the matching of two oscil lations by the spring- mass system and the neural oscil lator network is im- portant in enabling the robot to hopping. The present study also shows that entrainment between neural os- cil lators causes the running gait to change from hop- ping to bouncing. This nding renders running fairly easy to attain in a bounce gait. It must be noticed that the exible and robust dynamic walking on irregular terrain and the transition of the running gait are re- alized by the modi cation of a few parameters in the neural oscil lator network.