Title | ||
---|---|---|
Analysis Of Body Undulation Using Dynamic Model With Frictional Force For Myriapod Robot |
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. |
Year | DOI | Venue |
---|---|---|
2021 | 10.1007/s10015-020-00610-w | ARTIFICIAL LIFE AND ROBOTICS |
Keywords | DocType | Volume |
Myriapod robot, Passive dynamics, Dynamic model, Frictional force | Journal | 26 |
Issue | ISSN | Citations |
1 | 1433-5298 | 0 |
PageRank | References | Authors |
0.34 | 0 | 6 |
Name | Order | Citations | PageRank |
---|---|---|---|
Naoki Miyamoto | 1 | 0 | 0.34 |
Tetsuya Kinugasa | 2 | 15 | 10.97 |
Tatsuya Amasaki | 3 | 0 | 0.34 |
Koichi Osuka | 4 | 132 | 42.74 |
Ryota Hayashi | 5 | 24 | 12.14 |
Koji Yoshida | 6 | 113 | 20.10 |