Design of a Crawling Gait for a Modular Robot
نویسندگان
چکیده
In order to reduce the cost and development time of an all-terrain autonomous robot, a modular approach is used. The robot is designed as simple as possible by using one-degree-of-freedom modules that allow the platform to auto-reconfigure to use two different locomotion models inspired by biological systems: quadruped and crawling locomotion. The pros and cons of crawling are discussed and the use of this type of locomotion is justified. Moreover, the gait is outlined and the distance traveled per cycle and its velocity are calculated and analyzed. Finally, several experiments are performed and the results are compared to the theoretical results obtained before.
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