Development of Super-multi-legged Passive Dynamic Walking robot “Jenkka-III”

摘要

The purpose of this research is to realize and analyze Super-multi-legged Passive Dynamic Walking(PDW). Although various PDW studies have been conducted based on its interesting features, most of them dealt with bipedal robots. There are many kinds of multi-legged creatures, not only quadrupedal animals but also creatures with more than six legs. In this paper, we focus on a “Super-multi-legged PDW,” which is a PDW with more than six legs. We develop a Super-multi-legged Passive Dynamic Walking robot “Jenkka-III” and discuss whether such a robot can be realized and whether it can change its locomotion depending on such factors slope angle or its structure through experiments with Jenkka-III.