JRM Vol.26 No.1 pp. 98-99
doi: 10.20965/jrm.2014.p0098

Development Report:

Simple Legged Robots that Reveal Biomechanical and Neuromechanical Functions in Locomotion Dynamics

Shinya Aoi*,**

*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

June 29, 2013
August 6, 2013
February 20, 2014
biped robot, quadruped robot, multiped robot, biomechanics, neuromechanics

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.

Cite this article as:
Shinya Aoi, “Simple Legged Robots that Reveal Biomechanical and Neuromechanical Functions in Locomotion Dynamics,” J. Robot. Mechatron., Vol.26, No.1, pp. 98-99, 2014.
Data files:
  1. [1] S. Aoi, Y. Egi, R. Sugimoto, T. Yamashita, S. Fujiki, and K. Tsuchiya, “Functional roles of phase resetting in the gait transition of a biped robot from quadrupedal to bipedal locomotion,” IEEE Trans. Robot., Vol.28, No.6, pp. 1244-1259, 2012.
  2. [2] S. Fujiki, S. Aoi, T. Yamashita, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya, “Adaptive splitbelt treadmill walking of a biped robot using nonlinear oscillators with phase resetting,” Auton. Robots, Vol.35, No.1, pp. 15-26, 2013.
  3. [3] S. Aoi, D. Katayama, S. Fujiki, N. Tomita, T. Funato, T. Yamashita, K. Senda, and K. Tsuchiya, “A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion,” J. R. Soc. Interface, Vol.10, No.81, pp. 20120908-1-20120908-12, 2013.
  4. [4] S.M.Manton, “The arthropoda: Habits, functional morphology and evolution,” Oxford: Clarendon Press, 1977.
  5. [5] B. D. Anderson, J. W. Shultz, and B. C. Jayne, “Axial kinematics and muscle activity during terrestrial locomotion of the centipede Scolopendra Heros,” J. Exp. Biol., Vol.198, pp. 1185-1195, 1995.
  6. [6] S. Aoi, Y. Egi, and K. Tsuchiya, “Instability-based mechanism for body undulations in centipede locomotion,” Phys. Rev. E, Vol.87, No.1, pp. 012717-1-012717-11, 2013.
  7. [7] A. Klopper, “Biomechanics: Have legs will travel,” Nat. Phys., Vol.9, No.3, p. 134, 2013.

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Last updated on Mar. 05, 2021