Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot
Hidekazu Suzuki* and Hitoshi Nishi**
*Department of Electronics and Mechatronics, Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan
**Department of Electronics and Information Engineering, Fukui National College of Technology, Geshi, Sabae, Fukui 916-8507, Japan
Characterizing animal movement appropriately is important in pet robot design and Robot-Assisted Therapy (RAT). In studying how to generate animal gaits in quadruped robots, we used the canine AIBO robot. We began by optimizing a single leg path outputting propulsion efficiently and imitating canine walking using a genetic algorithm and a zoological basis. We administered a questionnaire to help determine subjective feelings in observers for choosing the optimum AIBO gait. We corrected minor deviations in joint parameters to stabilize walking on the ground.
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