「手応え関数」に基づく6脚ロコモーションの自律分散制御則

―推進力に着目した制御則設計―

抄録

Insects exhibit adaptive locomotion in response to the environment by coordinating their legs. Although various studies have been conducted so far, the mechanism responsible for interlimb coordination still remains elusive. In our previous study, we proposed a decentralized control scheme for interlimb coordination based on “TEGOTAE function” by focusing on body support, and we successfully showed that gait transition was well reproduced depending on locomotion speed. However, our model could not explain swimming locomotion of insects, where their locomotor patterns are modified in response to viscosity of substrates. This is because the proposed control scheme used only sensory information about vertical ground reaction forces. In this paper, we design interlimb coordination scheme by mainly focusing on propulsion using “TEGOTAE function” and verify the validity of the proposed control scheme through simulation.