Elucidation of body undulation mechanism in centipede locomotion and application to robotics
| Project/Area Number |
23656185
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyoto University |
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Principal Investigator |
AOI Shinya 京都大学, 大学院・工学研究科, 助教 (60432366)
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| Co-Investigator(Kenkyū-buntansha) |
TAUCHIYA Kazuo 同志社大学, 理工学部, 教授 (70227429)
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| Project Period (FY) |
2011 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2011: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | ロボティクス / ムカデ / 蛇行 / 動力学シミュレーション / ロボット / シンプルモデル / フロケ解析 / ホップ分岐 / 無次元化 |
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| Research Abstract |
The following four themes were performed for elucidation of body undulation mechanism in centipedes and application to robotics:
1. Simulation using a centipede model
2. Analysis using a simple model
3. Experiment using a robot, and
4. Comparison with measured data of centipedes. The results showed that body undulations in the simulation and robot were produced by a supercritical Hopf bifurcation and the simulation and robot had similar trends to centipedes in the appearance, amplitude, and wave length of body undulations with locomotion speed. These results were accepted in Physical Review E, which has been highlighted in News & Views of Nature Physics.
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Report
(3 results)
Research Products
(8 results)
