Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation

Abstract

Legged robots have remarkable terrestrial mobility, but are susceptible to falling and leg malfunction during locomotion. The use of a large number of legs, as in centipedes, can overcome these problems, but it makes the body long and leads to many legs being constrained to contact with the ground to support the long body, which impedes maneuverability. A mechanism for maneuverable locomotion using a large number legs is thus desirable. However, controlling a long body with a large number of legs requires huge computational and energy costs. Inspired by agile locomotion in biological systems, this study proposes a control strategy for maneuverable and efficient locomotion of a myriapod robot based on dynamic instability. Specifically, our previous study made the body axis of a 12-legged robot flexible and showed that changing the body-axis flexibility produces pitchfork bifurcation. The bifurcation not only induces the dynamic instability of a straight walk but also a transition to a curved walk, whose curvature is controllable by the body-axis flexibility. This study incorporated a variable stiffness mechanism into the body axis and developed a simple control strategy based on the bifurcation characteristics. With this strategy, maneuverable and autonomous locomotion was achieved, as demonstrated by multiple robot experiments. Our approach does not directly control the movement of the body axis; instead, it controls body-axis flexibility, which significantly reduces computational and energy costs. This study provides a new design principle for maneuverable and efficient locomotion of myriapod robots.