Abstract
An octopus has multiple degrees of freedom and elastic legs that can skillfully perform various actions. In this study, we propose an octopus type robot with multiple limb, multiple degrees of freedom and the adsorption function. We made a prototype robot with multiple degrees of freedom legs. We also carried out experiments about rod climbing, ladder climbing, brachiation, and caterpillar type movement using the robot. Because the link length of the multiple degrees of freedom leg is shorter than the link length of a fewer degrees of freedom leg, the robot has small moment arm. These experiments show examples of various behaviors by the robot with small moment arm.
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