Investigation of Reality Constrain: Morphology and Controller of Two-Link Legged Locomotors for Dynamically Stable Locomotion
Kojiro Matsushita, Hiroshi Yokoi and Tamio Arai
Simulation of Adaptive Behavior 2006 (SAB 2006)
Rome, Italy, 25-29 September 2006
Summary
In this paper, we focus on dynamical stability, which is emerged by the inter-dependence between morphology and controller among legged locomotors, in real world. So, we conducted edutainment course as heuristic diversity-design method in order to acquire legged locomotors. As results, we have acquired two remarkable legged locomotors and analyzed those locomotors in terms of phase plot of center of gravity and gait. Furthermore, we unitized three-dimensional simulation in order to investigate of those locomotors on the relationship be-tween morphology and locomotion function, controllability, and gait characteristics. We have concluded that symmetrical design plays important roles on locomotion functionality because its design enables to exploit its own dynamics as passive dynamics and also widen its controllability to dynamical stability.