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.190828.001How to use a DOI?
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/).