as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as o...

This paper presents a unified dynamic modeling approach of bio-inspired continuum robots. The locomotion analysis shows that how this dynamic model work with the environmental interaction model in order to produce locomotion. The resulting algorithm exploits a continuous version [2] of the Newton-Euler models of discrete structures and, is capable of computing the net motions as well as the int...

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, non-linear models. This letter presents new approach snake robot navigation coiling, with an algorithm that enables online step-by-step position adjustment follow-the-leader strategy, significantly improving...