Artificial Life and Robotics

, Volume 22, Issue 4, pp 429–434 | Cite as

Development of a small and lightweight myriapod robot using passive dynamics

  • Tetsuya Kinugasa
  • Koichi Osuka
  • Ryota Hayashi
  • Naoki Miyamoto
  • Koji Yoshida
Original Article


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.


Myriapod robot Passive dynamics Implicit control law Synthetic approach 



This work was supported by JSPS KAKENHI Nos. 26420215 and 17K06281.


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Copyright information

© ISAROB 2017

Authors and Affiliations

  • Tetsuya Kinugasa
    • 1
  • Koichi Osuka
    • 2
  • Ryota Hayashi
    • 1
  • Naoki Miyamoto
    • 1
  • Koji Yoshida
    • 1
  1. 1.Okayama University of ScienceOkayamaJapan
  2. 2.Osaka UniversitySuitaJapan

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