Elucidation of mechanism of maneuverable multilegged locomotion based on straight walk instability and development of maneuverable multilegged robot

2015 Fiscal Year Final Research Report

• Project/Area Number: 26630097
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Kyoto University
• Principal Investigator: Aoi Shinya 京都大学, 工学(系)研究科(研究院), 講師 (60432366)
• Project Period (FY): 2014-04-01 – 2016-03-31
• Keywords: 多足歩行生物 / ムカデ / 脚ロボット / 不安定性 / 高機動性

Outline of Final Research Achievements

The following three themes were performed for elucidation of mechanism of maneuverable multilegged locomotion based on straight walk instability and development of maneuverable multilegged robot: 1. Improvement of a multilegged robot to perform a turning task, 2. Verification of the straight walk instability, and 3. Performance of the turning task and investigation of the relationship between straight walk stability and turning maneuverability. These results show that straight walk instability contributes to turning maneuverability, which suggests important control of body axis flexibility to manipulate straight walk stability and maneuverability related to animal locomotion strategies. We submitted a research paper based on these results.

Free Research Field

工学