Aoi Shinya, Yamashita Tsuyoshi, Tsuchiya Kazuo
Deptartment of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo-ku, Kyoto, Japan.
Phys Rev E Stat Nonlin Soft Matter Phys. 2011 Jun;83(6 Pt 1):061909. doi: 10.1103/PhysRevE.83.061909. Epub 2011 Jun 15.
We investigated the dynamics of quadrupedal locomotion by constructing a simple quadruped model that consists of a body mechanical model and an oscillator network model. The quadruped model has front and rear bodies connected by a waist joint with a torsional spring and damper system and four limbs controlled by command signals from the oscillator network model. The simulation results reveal that the quadruped model produces various gait patterns through dynamic interactions among the body mechanical system, the oscillator network system, and the environment. They also show that it undergoes a gait transition induced by changes in the waist joint stiffness and the walking speed. In addition, the gait pattern transition exhibits a hysteresis similar to that observed in human and animal locomotion. We examined the hysteresis mechanism from a dynamic viewpoint.
我们通过构建一个简单的四足模型来研究四足运动的动力学，该模型由一个身体力学模型和一个振荡器网络模型组成。四足模型有通过带有扭转弹簧和阻尼系统的腰部关节连接的前后身体，以及由振荡器网络模型的命令信号控制的四条腿。模拟结果表明，四足模型通过身体力学系统、振荡器网络系统和环境之间的动态相互作用产生各种步态模式。结果还表明，它会经历由腰部关节刚度和步行速度变化引起的步态转变。此外，步态模式转变表现出与人类和动物运动中观察到的类似的滞后现象。我们从动力学角度研究了滞后机制。
