2次元動力学モデルによるムカデの運動解析

―足先粗密波の進行方向と体幹のうねりおよび移動速度の関係について―

抄録

Myriapoda, having multitudes of legs and an elongated body, can dexterously travel on natural environments. Myriapod locomotion has an advantage over wheeled and tracked vehicles on a rough terrain, because each leg can discretely contact the ground at several points. This study aims at developing a dynamic model of the myriapod robot using frictional force and elucidating how it locomotes.