シミュレーションによるヤスデの歩行制御系の調査

抄録

Multipods are generic names of arthropods such as Myriapoda and Centipede. One of the physical characteristics of a multipod type is that it has many legs on a long trunk. Adaptive and efficient walking is possible for various rough ground depending on its characteristics.Myriapoda exhibit complex locomotion including mixture of forward and backward gait. In this research, we aim to investigate walking control system and mixed gait of Myriapoda by a simulator. We will introduce a simplified simulator with considerations of factors affecting on walking to verify assumptions on the walking control system. As a result, we found that walking such as forward and backward can be reproduced, but mixed walking could not be reproduced. It is considered that this is mainly due to the difficulty in balancing the interaction term and the shearing force feedback term.