足並みの疎密波の向きを適応的に改変可能な多脚ロボットの開発

抄録

Myriapod walking is achieved by propagating leg density waves along the body axis, and the leg density wave is classified as direct wave or retrograde wave compared to the direction of body movement. It is known that the direction of leg density waves differs according to the species, but the determining factor for such a difference is not understood well. In order to solve the problem, we previously observed the locomotion of centipedes and reported that direct wave gait could be generated by a control mechanism to avoid leg crossing. However, the control mechanism for generating retrograde wave gait has not been investigated enough. In this paper, we extended the previous control scheme by considering a walking strategy of following the ground contact point for retrograde wave gait and developed a multi-legged robot as a platform to validate the control scheme.