Quadruped Robot Exhibits Spontaneous Changes in Step with Speed (IMAGE)

Tohoku University

Quadruped Robot Exhibits Spontaneous Changes in Step with Speed

Caption

Centralized control approach: A main computer governs all degrees of freedom (DoFs) on the body at all times to track the desired trajectory of each point, resulting in high computational cost and low adaptability to environmental changes. Decentralized control approach: Each local controller for a leg modulates its locomotor rhythm with the use of only local load sensing, resulting in low computational cost and high adaptability.

Credit

Akio Ishiguro

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Credit: Akio Ishiguro

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