Myriapod robot i-centipot01 via passive dynamics

T. Kinugasa, K. Osuka, N. Miyamoto, R. Hayashi, K. Yoshida, D. Owaki, A. Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Myriapod locomotion has an advantage over wheeled and tracked vehicles on a rough terrain, as each leg can discretely contact the ground at several points. However, there are many unanswered questions regarding the mechanism for myriapod locomotion, particularly with respect to manner of legs movement and torso undulation. The typical myriapod robots, however, were originally large and heavy in order to actuate numerous joints; thus, it is difficult to believe that these robots are able to synthesize aspects of intelligence, such as adaptability, of Myriapoda. Therefore, the aim of our study is to develop a light, simple, and adaptive myriapod robot based on passive dynamics. We assume that interaction between the leg and environment includes an implicit control law, which enhances mobility and stabilizes locomotion. The mechanical aspects of the torso and legs such as flexibility may be the basis of the implicit control law. Thus, in this study, we develop a novel prototype of the myriapod robot called i-CentiPot 01 by implementing passive dynamics, and subsequently analyze its locomotion and conduct some field test in order to demonstrate its adaptability in accordance withthe implicit control law given by the passive dynamics.

Original languageEnglish
Title of host publicationHuman-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017
EditorsManuel F. Silva, Benedita Malheiro, Pedro Guedes, Gurvinder S. Virk, Mohammad O. Tokhi
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages375-382
Number of pages8
ISBN (Print)9789813231047
DOIs
Publication statusPublished - 2018 Jan 1
Event20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017 - Porto, Portugal
Duration: 2017 Sep 112017 Sep 13

Publication series

NameHuman-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017

Conference

Conference20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017
CountryPortugal
CityPorto
Period17/9/1117/9/13

Keywords

  • Myriapod locomotion
  • Myriapod robot
  • Passive dynamics
  • Torso undulation

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence

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  • Cite this

    Kinugasa, T., Osuka, K., Miyamoto, N., Hayashi, R., Yoshida, K., Owaki, D., & Ishiguro, A. (2018). Myriapod robot i-centipot01 via passive dynamics. In M. F. Silva, B. Malheiro, P. Guedes, G. S. Virk, & M. O. Tokhi (Eds.), Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017 (pp. 375-382). (Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017). World Scientific Publishing Co. Pte Ltd. https://doi.org/10.1142/9789813231047_0046