Takeo Ohnishi, and Toshiyuki Asakura

Abstract:
This paper proposes a walking velocity control strategy based on autonomous walking form transition for a spider-robot. A creatural spider walks with changing velocity while adapting to the surrounding conditions. With reference to neurobiological control, we realize autonomous transitions of walking forms. Further, we realize velocity control which adapts to information input from both internal and external sources using the Neuro-Fuzzy method. Through simulations and experiments, we confirm the usefulness of the proposed technique.

Keywords: autonomous walking form transition, velocity control, adaptation to information, neuro-fuzzy