Exploring Inter-limb Coordination Mechanism of Insect-like Robots from Myriapods

Abstract

Insects and myriapods exhibit versatile walking patterns by coordinating their body and legs. Although some walking patterns are used only by specific species, it is interesting that they share similar gaits such as the tetrapod gait and direct wave gait. Taking this commonality into consideration, we have hypothesized the existence of common control principles across insects and myriapods. Our previous studies have shown that a single control principle can reproduce multiple walking patterns observed in myriapods. In this study, we constructed a three-dimensional simulation model of insects to verify whether the control principle proposed for myriapods can replicate the insect gaits.