Velocity Control Strategy for a Spider-Robot Based on Autonomous Walking Form Transition
Takeo Ohnishi*, and Toshiyuki Asakura**
*Graduate school of Engineering, University of Fukui, 3-9-1 Bunkyo, Fukui-shi, Fukui 910-8507, Japan
**Department of Human and Artificial Intelligence Systems, University of Fukui, 3-9-1 Bunkyo, Fukui-shi, Fukui 910-8507, Japan
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.
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