Abstract
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. The authors have attempted, therefore, to develop a light, simple, and adaptive myriapod robot, i-CentiPot, in accordance with the implicit control law given by passive dynamics, which achieved significant mobility against unpredictable environment. The physical model, i-CentiPot 01, showed that the body undulation emerged because of the leg wave, which was similar to that of a real centipede. However, the mechanism of the body undulation was not revealed. This study, therefore, aims at developing a dynamic model of the myriapod robot using frictional force and elucidating how it locomotes.
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