Parameter design in decentralized event-driven walk control for centipede-like multi-legged robot

本研究的目的是实现一种能够在复杂的不规则地形中进行探索的蜈蚣状多足机器人。为了实现这一目的，我们开发了一种方法，既可以设计分散的事件驱动步行控制的控制参数，称为跟随接触点(FCP)步态控制，也可以设计机器人本身的结构参数。该设计方法建立在形式化验证的基础上，即使设计对象复杂，也能在实际时间内得到满足设计要求的一组参数。在这项研究中，我们通过使用物理模拟器和实际机器人的实验来验证它的有效性。

The purpose of this research is to realize a centipede-like multi-legged robot which can explore in complex irregular terrains. In order to realize the purpose, we developed a methodology capable of designing both control parameters of decentralized event-driven walk control, called Follow-the-Contact Point (FCP) gait control, and construction parameters of the robot itself. The design method is based on formal verification and can derive group of parameters which can satisfy design specifications in realistic time in spite of the complex design object. In this research, we verified its usefulness through experiments using a physical simulator and an actual robot.