Realization and motion analysis of multi-legged Passive Dynamic Walking

摘要

The purpose of this research is to realize and to analyze Multi-Legged-Passive Dynamic Walking(PDW). Up to now, PDW has been mainly studied with bipedal robots. Although there were a few simulations related to the PDW, it was not enough to prove the existence of multi-legged (more than four legs) Passive Dynamic Walking. In this paper, at first, it is shown that Quadrupedal PDW and locomotion transitions like quadrupedal animals can be realizable by both experiments and numerical simulations. And also, it is also shown that a super-multi-legged (more than 6 legs) PDW is realizable and the locomotion changes depending on a body element.