| Budget Amount *help |
¥22,230,000 (Direct Cost: ¥17,100,000、Indirect Cost: ¥5,130,000)
Fiscal Year 2019: ¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000)
Fiscal Year 2018: ¥7,540,000 (Direct Cost: ¥5,800,000、Indirect Cost: ¥1,740,000)
Fiscal Year 2017: ¥8,450,000 (Direct Cost: ¥6,500,000、Indirect Cost: ¥1,950,000)
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| Outline of Final Research Achievements |
Multi-legged robots have many contact legs being constrained on the ground to support the body, which impedes maneuverability. Maneuverable locomotion for multi-legged robots remains challenging. In this research project, we clarified that the straight walk of a multi-legged robot becomes unstable through a pitchfork bifurcation by changing the body axis flexibility and it transitions into a curved walk. We developed a locomotion control system based on the straight walk instability and kinematic characteristics induced by the pitchfork bifurcation and achieved maneuverable and autonomous locomotion of the multi-legged robot.
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