著者

菊地 吉郎 大山 和記

出版者

独立行政法人 国立高等専門学校機構 小山工業高等専門学校

雑誌

小山工業高等専門学校研究紀要 (ISSN:02882825)

巻号頁・発行日

vol.43, pp.49-52, 2010-12-24 (Released:2020-10-09)

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As a result of the research, the insect with fast passing speeds such as cockroaches and ants is clear moving by alternation tripod walk. It is not influenced and it is possible to walk even in the place where ground is uneven because three legs of six legs contact the ground in turn, and there is center of gravity of the body in a triangular inside. This paper describes the mechanism and the control of the alternation tripod walk movement body which was produced, and the experiment that changed the walking patterns by the control program.