Development of swing-slip locomotion for no-legged primevaloids

In this paper, synthetic research for primevaloids, robots of primitive appearance, is described. First, we briefly introduce goals of the project within a perspective of entertainment robotics. Next, we sketch design concepts and prospective principles for a novel kind of entertainment robots, while placing our emphasis on primeval appearance, survivability, and emotions. Then, after introducing several appearance designs of a robot, we shift our focus to a locomotor for them. After we simplified their appearances into a skeletal model, we implement a simple embodied agent within a physical simulation. Using the physical simulation, we test the validity of the locomotion model, and analyze basic behaviors of the agent. We also test swing-slip locomotion within the real-world. It is shown that swinging creaturepsilas head leads to stable locomotion.