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Journal of Vibration and Control
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An Optimal Working Function Based on the Energetic Cost for Myriapod Robot Systems: How Many Legs Are Optimal for a Centipede?

B. T. Nohara

T. Nishizawa

Department of Electric and Computer Engineering, Musashi Institute of Technology, Tamazutsumi, Setagaya, Tokyo, Japan

The objective of this paper is to obtain working functions for the legs of a myriapod robot from a kinetic energy point of view. The realization of the high performance of energy consumption is indispensable in the battery-based robot system. We introduce the cost of transport and reduce to the minimum problem of the cost of transport. The calculus of variations is applied to obtain governing equations and the functions for legs. We obtain optimal functions for legs in an octarupedal robot.

Key Words: Calculus of variations • gait pattern • myriapod robot • walking robot

Journal of Vibration and Control, Vol. 11, No. 10, 1235-1251 (2005)
DOI: 10.1177/1077546305054149
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