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Adaptive Behavior of Quadruped Walking Robot under Periodic Perturbation

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4 Author(s)

Adaptive behavior of animals can he observed in the locomotion, as the variations of gait patterns. Physiological experiments demonstrated that decerebrate cats can adapt to periodic perturbation applied by the treadmill, and change their gait pattern with respect to the environmental changes. Based on this fact, we regard the adaptation as the process that adjusts memorized motion patterns to he more appropriate for the changed environments. Following this idea, we describe the adaptive behavior of decerebrate cat locomotion using a central pattern generator (CPG) model. We also take into account of the coupling of oscillators and limbs dynamics, and propose an adaptive control approach for the limb movements.