Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 322
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Basis and Evolution of Passive Dynamic Locomotion
From Super Multi-Leggeg Passive Dynamic Walking
*Yasuhiro Sugimoto, Hidetaka Yoshioka, Koichi Osuka
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Keywords: Passive Dynamic Walking, Multi-Legged Robot
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Abstract
The purpose of this research is to analyze Multi-Legged-Passive Dynamic Walking(PDW). Up to now, PDW has been mainly studied with bipedal robots and there are only a few studies related to Multi-Legged PDW. There are many kind of Multi-Legged living thing, so it is important and interesting to analyze Multi-Legged PDW. In this paper, we realize Quadrupedal PDW in a simulation and analyze it's locomotion by comparing a locomotion of animals.
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