Development of Multi-legged Passive Dynamic Walking Robot
نویسندگان
چکیده
This research realizes and analyze 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 “Multi-legged PDW,” which is a PDW with more than four legs. We develop multi-legged Passive Dynamic Walking robots, Jenkka-I, II and III, and discuss whether these robots can be realized and whether they can change its locomotion depending on such factors slope angle or their structure through simulations and experiments.
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