Multi-Legged Robot SHINAYAKA-L VII: Transformation between centipede form and cylindrical form.

Recently, robots that operate in unknown environments, such as rescue robot, agriculture robot, construction robot, etc., have been attracting attention. To adapt to unknown environments, multi-legged robots are advantageous because of their high mobility and stability. However, they have the problem of slow walking speed. In this study, we have proposed a multi-legged robot that can move in two ways: centipede-like walking and cylindrical rolling. On an uneven terrain, such as rubble, narrow areas, and steps, the robot moves by performing centipede-like walking, whereas on flat terrains, such as roads and pass-ways, it moves quickly, by rotating its cylindrical body. In this article we describe the developed prototype and the experiments conducted on it to evaluate its performance.