Simple Legged Robots that Reveal Biomechanical and Neuromechanical Functions in Locomotion Dynamics
*Dept. of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto 615-8540, Japan
**JST, CREST, 5 Sanbancho, Chiyoda-ku, Tokyo 102-0075, Japan
We developed simple legged robots (biped, quadruped, and multiped robots) and their control systems based on the biomechanical and physiological findings to investigate biomechanical and neuromechanical functions in locomotion dynamics. This paper introduces these robots and the experimental results.
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