Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 51st Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 4T4-5
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Host: The Institute of Systems, Control and Information Engineers

On Multi-legged Passive Dynamic Walking
Koichi Osuka, *Tomoaki Akazawa, Kazuhiro Nakatani
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Keywords: passive dynamic walking, 4-legged walking machine, stability
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Abstract
There are many researches on biped passive dynamic walking. As the results, many interesting results have been discovered. For example, the stability or the bifurcation phenomenons of P.D are discussed. But nobody has shown the existence of the 4-legged passive dynamic walking. In this paper, we developed a 4-legged passive dynamic walking machine and carried out the experiments. As the result, we show the existence of the phenomenon of 4-legged passive dynamic walking. Also, 6-legged passive dynamic walking will be considered.
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© 2007 The Institute of Systems, Control and Information Engineers
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