Access count of this item: 119

Files in This Item:
File Description SizeFormat 
srep30199.pdf799.36 kBAdobe PDFView/Open
Full metadata record
DC FieldValueLanguage
dc.contributor.authorAoi, Shinyaja
dc.contributor.authorTanaka, Takahiroja
dc.contributor.authorFujiki, Soichiroja
dc.contributor.authorFunato, Tetsuroja
dc.contributor.authorSenda, Keija
dc.contributor.authorTsuchiya, Kazuoja
dc.contributor.alternative青井, 伸也ja
dc.contributor.alternative田中, 隆浩ja
dc.contributor.alternative藤木, 聡一朗ja
dc.contributor.alternative舩戸, 徹郎ja
dc.contributor.alternative泉田, 啓ja
dc.contributor.alternative土屋, 和雄ja
dc.date.accessioned2016-07-25T04:34:26Z-
dc.date.available2016-07-25T04:34:26Z-
dc.date.issued2016-07-22ja
dc.identifier.issn2045-2322ja
dc.identifier.urihttp://hdl.handle.net/2433/216072-
dc.descriptionムカデはなぜあれほど機敏に動けるのだろうか?-多足ロボットを用いた実験的検証-. 京都大学プレスリリース. 2016-07-22.ja
dc.description.abstractMultilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots.ja
dc.format.mimetypeapplication/pdfja
dc.language.isoengja
dc.publisherSpringer Natureja
dc.rights© The Author(s) 2016. This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article's Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/ja
dc.titleAdvantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.ja
dc.type.niitypeJournal Articleja
dc.identifier.jtitleScientific reportsja
dc.identifier.volume6ja
dc.relation.doi10.1038/srep30199ja
dc.textversionpublisherja
dc.identifier.artnum30199ja
dc.identifier.pmid27444746ja
dc.relation.urlhttp://www.kyoto-u.ac.jp/ja/research/research_results/2016/160722_1.htmlja
Appears in Collections:Journal Articles

Show simple item record

Export to RefWorks


Export Format: 


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.