The various types of gaits shown by insects are very interesting, and many studies have been conducted to investigate the mechanism of these gaits. In nature, there are many insects with apparent differences in the length of each leg, and it seems that the difference in leg length may affect the resultant gait of insects. However, there has not been much discussion about the influence of these differences in leg length on the gait. In this research, in order to investigate the influence of the difference in leg length on gait, we focus on locusts, whose hind legs are considerably longer than the other legs and shows a unique gait not seen in other insects. First, we measure the kinematics of gait of some insects, including locusts, and analyze the unique gait specific to locusts. Next, we reproduce this unique gait via numerical dynamical simulation. By conducting some simulations while changing the length of the legs, we investigate the mechanism of the unique gait of locusts and the influence of difference in leg length on walking. As a result, it is confirmed that the unique gait of locusts can be reproduced with a combination of long hind legs (compared to the front and middle legs) and the adjustment of the stroke and period of the hind leg based on horizontal ground reaction force.

昆虫表现出的各种步态非常有趣，并且已经进行了许多研究来研究这些步态的机制。在自然界中，许多昆虫的每条腿的长度都有明显的差异，而且看起来腿长的差异可能会影响昆虫的步态。但是，关于腿长这些差异对步态的影响的讨论很少。在这项研究中，为了研究腿长差异对步态的影响，我们将重点放在蝗虫上，该蝗虫的后腿比其他腿长得多，并且显示出其他昆虫所没有的独特步态。首先，我们测量某些昆虫（包括蝗虫）的步态运动学，并分析特定于蝗虫的独特步态。下一个，我们通过数值动力学模拟重现了这种独特的步态。通过在改变腿长的同时进行一些模拟，我们研究了蝗虫独特步态的机制以及腿长差异对行走的影响。结果证实，蝗虫的独特步态可以通过结合长后腿（与前腿和中腿相比）以及基于水平地面反作用力来调节后腿的行程和周期来再现。