Katsuyoshi Tsujita

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The authors have proposed a control system of a quadruped locomotion robot by using nonlinear oscillators. It is composed of a leg motion controller and a gait pattern controller. The leg motion controller drives the actuators of the legs by using local feedback control. The gait pattern controller involves nonlinear oscillators with mutual interactions. In(More)
This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is(More)
— In our previous work, we developed a locomotion control system of a biped robot which is composed of nonlinear oscillators and realized a stable straight walk of the biped robot against the changes of the environments. Then, we revealed that the adaptability to the changes of the environments is realized as the straight walk results in the change of the(More)
— The development of an oscillator controller for a quadruped robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground(More)
— The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscil-lators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments:(More)
The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments: Various(More)
In this study, an oscillator-type gait controller for a quadruped robot with antagonistic pairs of pneumatic actuators is proposed. And by using the controller, a feasibility study on the stability of gait patterns with changeable body stiffness is reported. The periodic motions of the legs are generated and controlled by an oscillator network with state(More)
– This article deals with the optimal gait pattern in terms of the proposed control system. The phase difference among the oscillators is selected as the optimization variable. The duty ratio is selected as the optimization parameter. The performance index is constructed as a quadratic form of the input torque vector at the joints. The simulated annealing(More)