Spider Robot for Motion with Quasistatic Force Constraints

In quasistatic motions the robot contacts objects in the environment at several points, and moves by pushing itself against these objects. This motion type leads to the design of a spider-like mechanism consisting of four limbs, each with four links (total of 16 links). The robot operates by embracing itself against objects in the environment and changing its internal configuration to move the central body toward the target. A control system maintains controllable contact forces required for static equilibrium. The robot is equipped with special footpads which enable motion regardless of friction between the robot and the environment. The robot can be used for travel through complicated and unstructured environments such as disaster areas, nuclear reactors, oil refineries, etc. The robot can also be used for traveling in non-gravitational environments such as congested space stations. A micro version of the robot can be utilized for minimally invasive medical procedures inside a human body