Miscellaneous

First successful smooth walking sequence. The poodle approves.

This is a Lynxmotion 5 segment polypod with a Parallax BS2, BOE, SSC-32, 22 HiTec HS-422 servos, PING))) ultrasonic sensor, pan and tilt, 1600mAH NiMH, 2000mAH NiCd, and 2 9v batts, and lots of servo extension cables.

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Researchers at Kyoto University used computer simulations and a centipede-like robot to investigate the relationship between stability and maneuverability in multilegged locomotion. Their experimental results suggest that the straight walk instability helps in the turning maneuvers. Centipedes overcome constrains on locomotion maneuverability by harnessing instability, producing the wave-like body motion.
The video includes demonstrations of:
- Walking in a straight line with a large spring constant for the torsional springs in the body-segment yaw joints;
- Appearance of body undulations by using a small spring constant for the torsional springs in the body-segment yaw joints;
- Quickturningbyusingalargespringconstantrelativetothebifurcationpointforthebody-segment yaw joints;
- Quick turning by using a spring constant close to the bifurcation point for the body-segment yaw joints;
- Quickturningbyusingasmallspringconstantrelativetothebifurcationpointforthebody-segment yaw joints.
Credit:
Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach

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ETH Zurich engineers have created a magnetically controllable celia carpet that can move like a millipede. Watch the following video.

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