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Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference

Dynamic locomotion of a quadruped robot emerges from interaction between the robot body and the terrain. When the robot has a soft body, dynamic locomotion can be realized using a simple controller. This study investigates dynamic turning of a soft quadruped robot by changing the phase difference am...

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Detalles Bibliográficos
Autores principales: Tanaka, Hiroaki, Chen, Tsung-Yuan, Hosoda, Koh
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8100584/
https://www.ncbi.nlm.nih.gov/pubmed/33969002
http://dx.doi.org/10.3389/frobt.2021.629523
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author Tanaka, Hiroaki
Chen, Tsung-Yuan
Hosoda, Koh
author_facet Tanaka, Hiroaki
Chen, Tsung-Yuan
Hosoda, Koh
author_sort Tanaka, Hiroaki
collection PubMed
description Dynamic locomotion of a quadruped robot emerges from interaction between the robot body and the terrain. When the robot has a soft body, dynamic locomotion can be realized using a simple controller. This study investigates dynamic turning of a soft quadruped robot by changing the phase difference among the legs of the robot. We develop a soft quadruped robot driven by McKibben pneumatic artificial muscles. The phase difference between the hind and fore legs is fixed whereas that between the left and right legs is changed to enable the robot to turn dynamically. Since the robot legs are soft, the contact pattern between the legs and the terrain can be varied adaptively by simply changing the phase difference. Experimental results demonstrate that changes in the phase difference lead to changes in the contact time of the hind legs, and as a result, the soft robot can turn dynamically.
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spelling pubmed-81005842021-05-07 Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference Tanaka, Hiroaki Chen, Tsung-Yuan Hosoda, Koh Front Robot AI Robotics and AI Dynamic locomotion of a quadruped robot emerges from interaction between the robot body and the terrain. When the robot has a soft body, dynamic locomotion can be realized using a simple controller. This study investigates dynamic turning of a soft quadruped robot by changing the phase difference among the legs of the robot. We develop a soft quadruped robot driven by McKibben pneumatic artificial muscles. The phase difference between the hind and fore legs is fixed whereas that between the left and right legs is changed to enable the robot to turn dynamically. Since the robot legs are soft, the contact pattern between the legs and the terrain can be varied adaptively by simply changing the phase difference. Experimental results demonstrate that changes in the phase difference lead to changes in the contact time of the hind legs, and as a result, the soft robot can turn dynamically. Frontiers Media S.A. 2021-04-22 /pmc/articles/PMC8100584/ /pubmed/33969002 http://dx.doi.org/10.3389/frobt.2021.629523 Text en Copyright © 2021 Tanaka, Chen and Hosoda. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Tanaka, Hiroaki
Chen, Tsung-Yuan
Hosoda, Koh
Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference
title Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference
title_full Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference
title_fullStr Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference
title_full_unstemmed Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference
title_short Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference
title_sort dynamic turning of a soft quadruped robot by changing phase difference
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8100584/
https://www.ncbi.nlm.nih.gov/pubmed/33969002
http://dx.doi.org/10.3389/frobt.2021.629523
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