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JACIII Vol.15 No.5 pp. 598-605
doi: 10.20965/jaciii.2011.p0598
(2011)

Paper:

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

Received:
November 22, 2010
Accepted:
April 4, 2011
Published:
July 20, 2011
Keywords:
robot-assisted therapy (RAT), animal type robot, gait generation, genetic algorithm (GA)
Abstract

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.

Cite this article as:
Hidekazu Suzuki and Hitoshi Nishi, “Generation Method of Quadrupedal Gait Based on Human Feeling for Animal Type Robot,” J. Adv. Comput. Intell. Intell. Inform., Vol.15, No.5, pp. 598-605, 2011.
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