TY - GEN
T1 - Myriapod robot i-centipot01 via passive dynamics
AU - Kinugasa, T.
AU - Osuka, K.
AU - Miyamoto, N.
AU - Hayashi, R.
AU - Yoshida, K.
AU - Owaki, D.
AU - Ishiguro, A.
N1 - Funding Information:
This work was supported by CREST, JST, and KAKENHI (Nos. 26420215&17K06281).
Publisher Copyright:
© 2018 by World Scientific Publishing Co. Pte. Ltd.
PY - 2018
Y1 - 2018
N2 - Myriapod locomotion has an advantage over wheeled and tracked vehicles on a rough terrain, as each leg can discretely contact the ground at several points. However, there are many unanswered questions regarding the mechanism for myriapod locomotion, particularly with respect to manner of legs movement and torso undulation. The typical myriapod robots, however, were originally large and heavy in order to actuate numerous joints; thus, it is difficult to believe that these robots are able to synthesize aspects of intelligence, such as adaptability, of Myriapoda. Therefore, the aim of our study is to develop a light, simple, and adaptive myriapod robot based on passive dynamics. We assume that interaction between the leg and environment includes an implicit control law, which enhances mobility and stabilizes locomotion. The mechanical aspects of the torso and legs such as flexibility may be the basis of the implicit control law. Thus, in this study, we develop a novel prototype of the myriapod robot called i-CentiPot 01 by implementing passive dynamics, and subsequently analyze its locomotion and conduct some field test in order to demonstrate its adaptability in accordance withthe implicit control law given by the passive dynamics.
AB - Myriapod locomotion has an advantage over wheeled and tracked vehicles on a rough terrain, as each leg can discretely contact the ground at several points. However, there are many unanswered questions regarding the mechanism for myriapod locomotion, particularly with respect to manner of legs movement and torso undulation. The typical myriapod robots, however, were originally large and heavy in order to actuate numerous joints; thus, it is difficult to believe that these robots are able to synthesize aspects of intelligence, such as adaptability, of Myriapoda. Therefore, the aim of our study is to develop a light, simple, and adaptive myriapod robot based on passive dynamics. We assume that interaction between the leg and environment includes an implicit control law, which enhances mobility and stabilizes locomotion. The mechanical aspects of the torso and legs such as flexibility may be the basis of the implicit control law. Thus, in this study, we develop a novel prototype of the myriapod robot called i-CentiPot 01 by implementing passive dynamics, and subsequently analyze its locomotion and conduct some field test in order to demonstrate its adaptability in accordance withthe implicit control law given by the passive dynamics.
KW - Myriapod locomotion
KW - Myriapod robot
KW - Passive dynamics
KW - Torso undulation
UR - http://www.scopus.com/inward/record.url?scp=85073072693&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85073072693&partnerID=8YFLogxK
U2 - 10.1142/9789813231047_0046
DO - 10.1142/9789813231047_0046
M3 - Conference contribution
AN - SCOPUS:85073072693
SN - 9789813231047
T3 - Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017
SP - 375
EP - 382
BT - Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017
A2 - Silva, Manuel F.
A2 - Malheiro, Benedita
A2 - Guedes, Pedro
A2 - Virk, Gurvinder S.
A2 - Tokhi, Mohammad O.
PB - World Scientific Publishing Co. Pte Ltd
T2 - 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017
Y2 - 11 September 2017 through 13 September 2017
ER -