対側脚間の非同期制御に基づくムカデ型ロボットの歩行性能の向上

抄録

This paper proposes a method for decentralized control of a centipede-like multi-legged robot with active inter-segment joints. A coordinate system defined on each contact point makes it possible to walk by using only local information. The coordinate system can be defined by only unilateral two contant points and the information given by a postual sensor. In addition, allowing the contralateral legs of a module to leave the ground at the same time, the robot can improve the walking ability. Finally, the robot simulation shows the availability of the proposed method.