Dynamics-Based Motion Adaptation for a Quadruped Robot

Abstract. In this paper, we propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical system and the neural system by comparing biological concepts with those necessary condi-tions described in physical terms. PD-controller at joints can construct the virtual spring-damper system as the visco-elasticity model of a muscle. The neural sys-tem model consists of a CPG (central pattern generator) and reflexes. A CPG receives sensory input and changes the period of its own active phase. CPGs, the motion of the virtual spring-damper system of each leg and the rolling motion of the body are mutually entrained through the rolling motion feedback to CPGs, and can generate adaptive walking. We report our experimental results of dynamic walking on terrains of medium degrees of irregularity in order to verify the effec-tiveness of the designed neuro-mechanical system. The motion adaptation can be integrated based on the dynamics of the coupled system constructed by the me-chanical system and the neural system. MPEG footage of these experiments can be seen at