Authors
Makoto Kitani1, Ryo Asami1, Noritaka Sato1, *, Yoshifumi Morita1, Tomofumi
Fujiwara2, Takahiro Endo2, Fumitoshi Matsuno2
1Morita and Sato Laboratory, Electrical and Mechanical Engineering, Nagoya
Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555,
Japan
2Matsuno Laboratory, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku,
Kyoto 615-8530 Japan
*Corresponding author. Email: [email protected]
Corresponding Author
Noritaka Sato
Received 3 November 2018, Accepted 20 November 2018, Available Online 10
September 2019.
DOI
https://doi.org/10.2991/jrnal.k.190828.001
Keywords
CPG; quadruped robot; suppression of roll oscillation
Abstract
Quadruped robots experience excessive vibrations in the roll direction
when turning by controlling their hip yaw joint. In the case of image-based
teleoperation of the robot, the operator cannot aware the situation of
the robot, due to excessive vibrations of the viewpoint of the image from
the camera mounted on the robot. Especially, it is known that vibration
in the roll direction is most likely to cause motion sickness. To overcome
this problem, we proposed the asymmetric amplification of the output waveforms
of central pattern generators. We implemented the proposed method on a
robot in a dynamic simulator and verified the effectiveness of the proposed
method, during the turning operation. As a result, we confirmed that the
proposal method can suppress 43.7% vibration of the robot body in the roll
direction and 7.4% vibration in the pitch direction compared with the conventional
method.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license
(http://creativecommons.org/licenses/by-nc/4.0/).