Proceedings ArticleDOI
Follow-the-Contact-Point gait control of centipede-like multi-legged robot to navigate and walk on uneven terrain
Shinkichi Inagaki,Tomoya Niwa,Tatsuya Suzuki +2 more
- pp 5341-5346
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TLDR
The result of physical simulation of a 20-legged robot shows the availability of the proposed Follow-the-Contact-Point (FCP) gait control method, which realizes locomotion control of multi- Legs robot on uneven terrain with perfectly decentralized manner.Abstract:
This paper proposes a novel locomotion control scheme of centipede-like multi-legged robot, which is called Follow-the-Contact-Point (FCP) gait control. A centipede-like multi-legged robot is composed of segmented trunks which have a pair of legs and are connected with fore and/or rear ones by joints. This control scheme realizes locomotion control of multi-legged robot on uneven terrain with perfectly decentralized manner. The main concept of the control scheme is to relay the contact points from the fore leg to the rear leg. By creating contact points of the first legs adequately on the environment, the robot can climb over obstacles and be navigated successfully. Finally, the result of physical simulation of a 20-legged robot shows the availability of the proposed method.read more
Citations
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Journal ArticleDOI
A study on development of a hybrid aerial / terrestrial robot system for avoiding ground obstacles by flight
TL;DR: It was found that autonomous control of ground movement and flight was possible for the hybrid aerial / terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.
Journal ArticleDOI
Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion.
TL;DR: This work aims to design a decentralized control scheme for myriapod robots by drawing inspiration from behavioral experiments on centipede locomotion under unusual conditions, and constructed a two-dimensional model wherein a simple local reflexive mechanism was implemented in each leg.
Journal ArticleDOI
Decentralized control mechanism underlying interlimb coordination of millipedes.
TL;DR: The proposed mechanism was implemented in a developed millipede-like robot to demonstrate that the robot can adapt to the removal of the part of the terrain and leg amputation in a manner similar to that in behavioural experiments.
Journal ArticleDOI
General Distributed Neural Control and Sensory Adaptation for Self-Organized Locomotion and Fast Adaptation to Damage of Walking Robots.
TL;DR: The adaptive interlimb coordination approach is validated with continuous online sensory adaptation on simulated 4, 6, 8, and 20-legged robots and offers a possibility of invertebrate nervous systems with flexible plasticity for locomotion and adaptation to injury.
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