多足類から考える昆虫の脚間協調メカニズム

抄録

Insects exhibit various locomotor patterns in response to the environment encountered. Such locomotor patterns are generated via coordination between leg movements, i.e., interlimb coordination mechanism. If we clarify the interlimb coordination mechanism, it will definitely contribute to the realization of legged robots with high adaptability to working environments. In this study, we aim to understand the interlimb coordination mechanism of hexapod walking by drawing inspiration from that of myriapod (such as centipedes). From the viewpoint of evolutionary process, insects are descendants of centipedes, and thus there likely exists a common principle underlying both species. We investigated the validity of the control scheme by using a hexapod robot, and successfully reproduced in part hexapod locomotion patterns.