Locomotion analysis of myriapod using planar link model: - Relationship between leg wave, body undulation, and travel velocity -

Myriapoda, having multitudes of legs and an elongated body, can dexterously travel on natural environments. Myriapod locomotion has an advantage over wheeled and tracked vehicles on a rough terrain, because each leg can discretely contact the ground at several points. This study aims at developing a dynamic model of the myriapod robot using frictional force and elucidating how it locomotes.