Development of a small and lightweight myriapod robot using passive dynamics
- 317 Downloads
Typical myriapod robots were originally large and heavy for actuating numerous joints. Therefore, it is difficult for these robots to synthesise aspects of intelligence, such as adaptability of Myriapoda. The aim of this study is to develop a light, simple, and adaptive myriapod robot by implementing passive dynamics. In the paper, we develop a prototype of the myriapod robot, the i-CentiPot P (implicit brain centipede robot prototype) based on passive dynamics to validate its fundamental mechanism. The i-CentiPot P is lightweight (weight of approximately 1.5 kg) and small (length, width, and height of 1.2 m, 20 cm, and 5 cm). The experimental results showed that the i-CentiPot P could climb over or avoid some obstacles autonomously. The i-CentiPot P did not have active torso joints. Nevertheless, we observed that torso undulation emerged. This result indicates that interaction between the legs, the flexible and passive torso, and the ground provides the spontaneous undulation.
KeywordsMyriapod robot Passive dynamics Implicit control law Synthetic approach
This work was supported by JSPS KAKENHI Nos. 26420215 and 17K06281.
- 1.Anderson BD et al (1995) Axial kinematics and muscle activity during terrestrial locomotion of the centipede scolopendra heros. J Exp Biol 198:1185–1195Google Scholar
- 2.Pfeifer R, Bongard J (2006) How the body shapes the way we think: a new view of Intelligence. A Bradford Book, The MIT PressGoogle Scholar
- 6.Koh D et al (2010) Centipede robot for uneven terrain exploration: design and experiment of the flexible biomimetic robot mechanism. In: Proceedings of the 2010 International Conference on Biomedical Robotics and Biomechatronics, pp 877-881Google Scholar
- 7.Osuka K et al (2017) Development of implicit controlled centipede robot (i-CentiPot). In: Proceedings of SICE symposium on decentralized autonomous systems, 1A2-1Google Scholar