Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.

ABSTRACT: Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body ax

SUBMITTER: Aoi S 

PROVIDER: S-EPMC4957114 | biostudies-literature | 2016 Jul

REPOSITORIES: biostudies-literature