2A1-J01 Mukade1 : Centipede-Like Multi-Legged Robot with Passive Intersegment Joints(Robotic Systems Based on Autonomous Decentralized Architecture)

Abstract

We developed a centipede-like multi-legged robot with passive intersegment joints, named Mukade 1. This robot is controlled based on Follow-the-Contact-Point (FCP) gait control. The purposes of development of this robot are verification of realizability of the FCP gait control on a real robot, and acquisition of elemental technologies to realize a centipede-like multi-legged robot. We realized real-time control of Mukade1 via 8 MHz and 8 bit PIC microcomputers network. Finally, the ability of Mukade1 was verified through the experiments of walking of even and uneven terrains.