2A2-Q04 超多脚型受動的動歩行ロボットJenkka-IIIの実機検証(受動歩行ロボット)

抄録

A Passive Dynamic Walking robot can walk down a gentle slope naturally without any actuator or controller, only using potential energy. This suggests that the principle of walking may exist in this phenomenon. Current researches have confirmed Passive Dynamic Walking (PDW) for biped and quadruped. However, it is also important and interesting to study PDW for more than six legs because it could be a significant approach for the resolution of the principle of walking. In this research, the super multilegged passive dynamic walking robot was analyzed by experiments with " Jenkka-III". And it was confirmed that the 20 legged robot could walk and its gait was changed depending on the degree of freedom of its bodies.