Abstract
Legged animals, such as the mammals and arthropods, generate adaptive and pliably locomotion in various environments. They achieve this amazing ability through the coordination between their legs, i.e., interlimb coordination. However, the interlimb coordination mechanism still has not been explained clearly. To tackle this problem, we construct the following working hypothesis: interlimb coordination consists of two fundamental mechanisms underlying legged locomotion, i.e., "body support" and "propulsion". Based on the working hypothesis, we extend our interlimb coordination control, which was previously designed for quadruped locomotion, for various types of legged locomotion. In order to verify the extended model, we developed a multi-legged robot as a robotic platform.
