シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2013/02
形態種別	国際会議論文
査読	査読あり
標題	Gait motion of a six legged real robot employing association
執筆形態	共著
掲載誌名	The Eighteenth International Symposium on Artificial Life and Robotics 2013
出版社・発行元	ISAROB
巻・号・頁	pp.420-423
概要	In this study, we have proposed gait motion algorithm of a six legged robot in order to walk an unpredictable irregular field. The algorithm is adapted to the Associatron. The algorithm has a property that enables the robot to recall an entire pattern from partial information, sequentially. Therefore, the robot can walk in unknown field. First, we verified the proposed algorithm by simulations using ODE (Open Dynamics Engine). It is clear that memorized pattern is recalled from unknown pattern. Secondly, an experiment is performed using the developed real robot. The experiment result proved that the robot is able to select suitable gait motion at the existence of an obstacle.