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http://dx.doi.org/10.5302/J.ICROS.2012.18.2.133

Lifelike Pattern Generator for a Giant Quadrupedal Walking System Based on Fuzzy Logic  

Lee, Sang-Won (Korea Institute of Industrial Technology)
Rim, Kyung-Hwa (Korea University of Technology and Education)
Kwon, O-Hung (Korea Institute of Industrial Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.2, 2012 , pp. 133-140 More about this Journal
Abstract
In this paper, we suggest a lifelike pattern generator for a quadruped walking system with a head, a tail, four legs and a torso. The system looks like a giant dinosaur which stands over 7 meters tall with its legs over 2 meters long. We focus on its lifelike naturalness. Thus, generating logical patterns in harmony with head-body-tail patterns and quadrupedal locomotion patterns makes you feel that the quadruped walking system is alive. The basic patterns of four legs and a body are obtained from a 3D graphic animation, which is made and captured from various motions of similar species in existence since the giant dinosaurs are exterminated. The dinosaur-like mechanism also is designed from bone and joint structures of quadrupedal animals. The lifelike pattern generator based on fuzzy logic could generate lifelike motions according to the dinosaur-like mechanism and the basic patterns. A series of computer simulations and experimental implements show that the pattern generator makes the quadruped walking system lifelike.
Keywords
entertainment; quadruped; giant dinosaur; naturalness; fuzzy logic;
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