Art

J-GLOBAL ID：201902241646045245   Reference number：19A0929613

Toward Orchestrating Whole Bodily Degrees of Freedom

全身自由度総動員制御の実現に向けて

Author (2)： ISHIGURO AKIO (東北大学電気通信研究所) ,  FUKUHARA AKIRA (東北大学電気通信研究所)
Material： 日本ロボット学会誌  (ロボ學)
Volume： 37  Issue： 2  Page： 121-125(J-STAGE)  Publication year： 2019 
JST Material Number： Y0482A  ISSN： 0289-1824  Document type： Article
Article type： 解説  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： *walking robot ,  robot leg ,  *motion control ,  degree of freedom ,  body region ,  distributed control ,  autonomous system ,  *imitative behavior ,  biotechnology ,  central nervous system ,  feedback control ,  sensor ,  locality
Semi thesaurus term： four-legged robot ,  central pattern generator ,  局所センサフィードバック制御 ,  *biomimesis ,  Whole body ,  *全身自由度総動員制御 ,  distributed control

Author keywords (5)： Legged Locomotion ,  Autonomous Decentralized Control ,  Bio-inspired Approach ,  CPG ,  Local Sensory Feedback Control

JST classification (2)： Motion and control of robots  (IC04012J) ,  System design and analysis  (IA02030D)

Reference (27)：

• 1) R. M. Alexander: Principles of Animal Locomotion. Princeton University Press, 2003.
• 2) L.D. Maes, M. Herbin, R. Hackert, V.L. Bels and A. Abourachid: “Steady locomotion in dogs: temporal and associated spatial coordination patterns and the effect of speed,” The Journal of Experimental Biology. vol.211, pp.138-149, 2008.
• 3) N. Schilling and D.R. Carrier: “Function of the epaxial muscles in walking, trotting and galloping dogs: implications for the evolution of epaxial muscle function in tetrapods,” The Journal of Experimental Biology. vol.213, pp.1490-1502, 2010.
• 4) S. Aoi, P. Manoonpong, Y. Ambe, F. Matsuno and F. Wörgötter: “Adaptive control strategies for interlimb coordination in legged robots: a review,” Frontiers in Neurorobotics, vol.11, article 39, 2017.
• 5) T. Takuma, M. Ikeda and T. Masuda: “Facilitating multi-modal locomotion in a quadruped robot utilizing passive oscillation of the spine structure,” Proc. of IEEE IROS 2010, pp.4940-4945, 2010.

Terms in the title (2)： 全身 ,  自由度