ArticleScientific reports2016
Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach.
Article in Scientific reports, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed.
- Theoretical Dynamics Modeling of Pitch Motion and Obstacle-Crossing Capability Analysis for Articulated Tracked Vehicles Based on Myriapod Locomotion Mechanism.Biomimetics (Basel, Switzerland) · 2026Article
- Maneuverable and Efficient Locomotion of a Myriapod Robot with Variable Body-Axis Flexibility via Instability and Bifurcation.Soft robotics · 2023Article
- Self-propulsion via slipping: Frictional swimming in multilegged locomotors.Proceedings of the National Academy of Sciences of the United States of America · 2023Article
- Active and passive mechanics for rugose terrain traversal in centipedes.The Journal of experimental biology · 2023Article
- Leg-body coordination strategies for obstacle avoidance and narrow space navigation of multi-segmented, legged robots.Frontiers in neurorobotics · 2023Article
- From Motor-Output to Connectivity: An In-Depth Study ofFrontiers in insect science · 2021Article
- Generation of Direct-, Retrograde-, and Source-Wave Gaits in Multi-Legged Locomotion in a Decentralized Manner via Embodied Sensorimotor Interaction.Frontiers in neural circuits · 2021Article
- Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review.Frontiers in neurorobotics · 2017Review
Corrections and comments
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Authors and funding
6 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Multilegged 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.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.