Multi-legged Robot Module System with Isolated-CPGs for Interlimb Cooperative Gait Emergence

Abstract

We are developing a modular robot for multi legged walking robot with two legs per module. Modular robots that we have produced so far were connected by joints between modules. It was difficult to generate a gait when connecting a large number of modules. Therefore, we newly developed a modular robot that connects modules by magnets. In this paper, we describe the hardware of the module robot which was created to generate the gait by independent CPG.