Under-Actuated Kinematic Structures For Miniature Climbing Robots

This paper presents two biped designs for miniature climbing robots. The designs use underactuation to satisfy space and weight constraints. In the first design, one actuator provides steering and another two propel the robot in a cartwheel style gait. The cartwheel gait is quite effective but space required for the maneuver precludes certain applications. The limitation is overcome in the second design, which uses under-actuation to provide two different forms of locomotion. It uses a crawling stride in confined environments and a faster pivoting gait in open environments. Such adaptability is achieved without increasing the number of actuators. Both robots have been built and have successfully demonstrated their mobility and maneuverability. ASME Journal of Mechanical Design Minor and Mukherjee 2