1A1-G05 Highly-Mobile Centipede-Like Multi-Legged Robot based on Decentralized Control

Abstract

This paper addresses on decentralized walking control of multi − 1egged robots based on Fellow − the − Contact −Point ( FCP )gait control and averaging control ofleg contact force ． These control schemes realize gait control and navigation control on uneven terrain simultaneously with perfectly decentralized manner ，In this paper， we introduce the control laws and show its availability by using a physical sjmulation of centipede − like multi − 1egged robo し