“The research group of Professor Akio Ishiguro and Assistant Professor Dai Owaki of Tohoku University have, for the first time, successfully demonstrated that by changing only its parameter related to speed, a quadruped robot can spontaneously change its steps between energy-efficient patterns (gait transition phenomena). Until now, the manner in which changing speeds cause quadrupeds to change their gaits - walking, trotting and galloping - is poorly understood. Through this study, the researchers successfully demonstrated the reproduction of the quadruped gait transition phenomena. They achieved this via a decentralized control scheme, using a simple local rule in which a leg continues to support the body while sensing weight on the corresponding leg.”
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