Skip to main content

Advertisement

Springer Nature Link
Log in

Analysis of body undulation using dynamic model with frictional force for myriapod robot

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

Myriapoda, having multitudes of legs and an elongated body, can dexterously travel on natural environments. Myriapod locomotion has an advantage over wheeled and tracked vehicles on a rough terrain, because each leg can discretely contact the ground at several points. The authors have attempted, therefore, to develop a light, simple, and adaptive myriapod robot, i-CentiPot, in accordance with the implicit control law given by passive dynamics, which achieved significant mobility against unpredictable environment. The physical model, i-CentiPot 01, showed that the body undulation emerged because of the leg wave, which was similar to that of a real centipede. However, the mechanism of the body undulation was not revealed. This study, therefore, aims at developing a dynamic model of the myriapod robot using frictional force and elucidating how it locomotes.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Manton S, Harding M (1952) The evolution of Arthropod locomotory mechanisms—Part 3. The locomot Chilopoda and Pauropoda. J Linnean Soc Lond Zool 42(284):118–167

    Article  Google Scholar 

  2. Anderson BD et al (1995) Axial kinematics and muscle activity during terrestrial locomotion of the centipede scolopendra heros. J Exp Biol 198:1185–1195

    Google Scholar 

  3. Pfeifer Rolf, Bongard Josh (2006) How the body shapes the way we think: a new view of intelligence. A Bradford Book, The MIT Press.

  4. Koh D, et al (2010) Centipede robot for uneven terrain exploration: design and experiment of the flexible biomimetic robot mechanism, In: Proc. of the 2010 3rd IEEE RAS & EMB, Intl. Conf. on Biomedical Robotics and Biomechatronics, pp.877-881

  5. Saranli U et al (2001) RHex: a simple and highly mobile hexapod robot. Intl J Robot Res 20(7):616–631

    Article  Google Scholar 

  6. Hoffman Katie L, Wood Robert J (2011) Passive undulatory gaits enhance walking in a myriapod millirobot. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1479-1486

  7. Aoi S, Egi Y, Tsuchiya K (2013) Instability-based mechanism for body undulations in centipede locomotion. Phys Rev E 87(1):012717-1-11

    Article  Google Scholar 

  8. Aoi S et al (2016) Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach. Sci Rep 6:30199

    Article  Google Scholar 

  9. Kano T et al (2017) Decentralized control mechanism underlying interlimb coordination of millipedes. Bioinspirat Biomimet 12:036007

    Article  Google Scholar 

  10. Yasui K et al (2016) On the common decentralized control mechanism underlying centipede and millipede locomotion. Proc. SICE SI Symp 2016:2776–2779

    Google Scholar 

  11. Gakken Holdings Co., LTD., Mechamo\(\cdot\)Centipede,http://otonanokagaku.net/products/mechanic/centipede/detail.html. Accessed 9 July 2020

  12. Osuka K, et al (2017) Development of Implicit Controlled Centipede Robot (i-CentiPot). In:Proc. of SICE Symposium on Decentralized Autonomous Systems:18-23

  13. Kiungasa T et al (2017) Development of a small and lightweight myriapod robot using passive dynamics. Artif Life Robot 22(4):429–434

    Article  Google Scholar 

  14. Kinugasa T et al (2017) Myriapod Robot i-CentiPot via passive dynamics—emergence of various locomotions for foot movement. In: Proc. of SICE AC 2017

  15. Janosi Z, et al (1961) The analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils. In: Proc. of ISTVS1st Intl. Conf.: 707-736

Download references

Author information

Authors and Affiliations

  1. Okayama University of Science, Okayama, Japan

    Naoki Miyamoto, Tetsuya Kinugasa, Tatsuya Amasaki, Ryota Hayashi & Koji Yoshida

  2. Osaka University and JST CREST, Osaka, Japan

    Koichi Osuka

Authors
  1. Naoki Miyamoto
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Tetsuya Kinugasa
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Tatsuya Amasaki
    View author publications

    You can also search for this author inPubMed Google Scholar

  4. Koichi Osuka
    View author publications

    You can also search for this author inPubMed Google Scholar

  5. Ryota Hayashi
    View author publications

    You can also search for this author inPubMed Google Scholar

  6. Koji Yoshida
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Naoki Miyamoto.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work was presented in part at the 25th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 22–24, 2020, and supported by CREST, JST, and JSPS KAKENHI No. 17K06281.

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Miyamoto, N., Kinugasa, T., Amasaki, T. et al. Analysis of body undulation using dynamic model with frictional force for myriapod robot. Artif Life Robotics 26, 29–34 (2021). https://doi.org/10.1007/s10015-020-00610-w

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-020-00610-w

Keywords