ROBOROACH - An Experiment in Legged Locomotion

This paper describes the development of a legged mobile robot. Legged locomotion has several advantages over wheels. The major advantage is the ability to traverse varied surfaces. However, legs must carry the full weight of the robot and this places great demands on the leg actuators, requiring a light robot structure. In most cases, the actuators contribute a large proportion of the weight, and usually at least two are required per leg. This project aims to reduce weight by using only one actuator per leg. Another aim is to improve walking performance on rough ground. Roboroach is a six legged insect robot, suited to traversing uneven terrain and having potential biomedical applications, with emphasis on areas such as environmental monitoring and search and rescue. The robot's legs each employ a single servo actuator and rotate a full 360°. This creates a novel walking style, which can negotiate large obstacles. The legs are compliant, which makes locomotion smoother, and gives passive adaptability to uneven surfaces. It is fitted with obstacle and tilt detection, and autonomously integrates these behaviours with walking and turning.