Myriapod robot i-CentiPot via passive dynamics — Emergence of various locomotions for foot movement

摘要

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.