Research on Multi-Leg Gait Design and Robot Development

1.六足动物步态观察系统的开发与分析：对昆虫行走算法的识别，最好的方法是非常精确地观察实际的步态。从这些数据中，我们可以了解他们是如何建立最佳步行模式的。我们在跑步机上增加了一些额外的能力。(1)昆虫在跑步机的中心行走（2）可以使用镜子同时获得平面图和侧视图。(3)在崎岖的地形上行走的模式可以通过在跑步机上放置小块来观察。为了更好地获取昆虫腿弯曲角度的信息，在昆虫腿上的几个点上做了小的白色标记。2.六足机器人的设计与研制：研制了两种机器人。一个是电动伺服电机作为执行器。另一个是气动执行器。两个机器人都像真正的昆虫一样行走，尽管步态与真实的昆虫并不完全一致。从这一结果来看，可以说昆虫步态的基本特征在两种机器人上都得到了再现。3.昆虫模型机器人的应用：六足机器人具有静态稳定性，可以在崎岖的地形上轻松行走。它们可以应用于受灾地区的信息收集

1.Development and analysis of observation system for hexapod's gait : The best way to recognize the algorithm of insects' walking is to observe very precisely actual gaits. From these data, we can understand how they are building up the oputimum walking pattern. We added some additional abilities to the treadmill. (1) Insects walk at the center of a treadmill (2) A plane view and a side view can be obtained simultaneously using a mirror. (3) Walking pattern on a rough terrain can be observed by putting small pieces on the treadmill. In order to get good information about bending angles of legs of insect, small white marks were put at several points on legs2.Design and development of a hexapod robot : Two kinds of robot were developed. One has electric servo motors as an actuator. The other has pneumatic actuators. Both robots walk like actual insects, although gaits are not completely coincides with real insects. Judging from this result, it can be said that basic characteristics of the gait of insect are reproduced on both robots3.Application of insect-model robots : Hexapod robots are statically stable and can walk easily on rough terrain. They can be applied for information gathering at a stricken district