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The purpose of the research is to develop a myriapod robot i-CentiPot ??? that achieves significant mobility against unpredictable environment via passive dynamics. In the paper, we change foot phase, and observe locomotion. We also consider about the analogy between i-CentiPot ??? and some myriapoda.
In this paper, we propose a new kind of tripedal locomotion—namely, robotic walking with three legs. We develop a prototype robot, which we call Martian III, having three stretchable legs fixed to each other at the center of the body. Therefore the coxa (the hip joint) is completely fixed in this robot, and the only control we have are the linear actuators to stretch the three legs in the radial directions...
Much attention has been paid to passive dynamic walking as an approach to investigate the walking of human beings and animals. As for quadrupedal passive dynamic walking, it is confirmed that walking resembles that of animals, and that the gait of the robot changes depending on the structure of robot or the environment. Based on these facts, it is conceivable that quadrupedal passive dynamic walking...
This paper is concerned with realization of a new kind of three-legged walking machine. The proposed robot has neither coxa joint nor knee joint, so the three legs are just rigidly fixed to each other. Instead of pursuing elaborated joint mechanism for the coxa, we equipped it with two actuators and a pair of weights, so that it can generate torque about the yaw and the pitch axes. Thus it only rocks...
Human is capable of adaptive and supple locomotion in the real world characterized by rapid changes, high uncertainly, and limited availability of information. In order to understand the human walking, this work was motivated by the concept of passive dynamic walking robots, which have no actuation or control system except for gravity are capable of stable, human-looking walking. On the other hand,...
The purpose of this research is to realize and analyze Super-multi-legged Passive Dynamic Walking(PDW). Although various PDW studies have been conducted based on its interesting features, most of them dealt with bipedal robots. There are many kinds of multi-legged creatures, not only quadrupedal animals but also creatures with more than six legs. In this paper, we focus on a “Super-multi-legged PDW,”...
We were intended to find a core principle of 'Realtime Environmental Adaptive Motion Ability(REAMA)' and devised a structure hypothesis of various movement intellect so far. In this note, we show a particular solution of the REAMA Problem as the first step. Doing so, we try to show the existence of a general solution of the REAMA Problem. Concretely, we introduce a simple but very important example...
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