Design and Undulatory Gait Tests of a Meter-size Modular Centipede Robot
Dynamic Walking, no. 503, 2019
Abstract
Bioinspired legged robots have been widely used for locomotion on challenging unconstructed environments as well as scientific study of biological locomotion. We investigated the motion of a family of robots ranging from 6 to 12 legs. Our modular “Multipod” robot has both pitch and yaw actuation of backbone between segments, making it possible to test a wide range of new gaits. Its meter-size scale offers a better chance to test centipede locomotion performance in some human-centric environments, like stairs, etc. We present results from a preliminary test of an undulatory gait over a range of inter-segmental phase differences. The results show that robots with different numbers of body segments(legs), move the same distance when actuated at the same phase difference. This implies that longer robots might be very similar to a set of shorter robots walking in caravan.
BibTeX
@conference{Zhap-2019-dw,
author = {Zhao, D and Li, H and Revzen, Shai},
title = {Design and Undulatory Gait Tests of a Meter-size Modular Centipede Robot},
booktitle = {Dynamic Walking},
year = {2019},
number = {503},
address = {Canmore AB, CA},
month = jun,
organization = {Dynamic Walking},
url = {https://docs.google.com/document/d/155IGklc5VWjCga3UaZyJ66UeFiV2_94IlAl5AmnqK7Y/view},
}