Abstract
The purpose of this paper is to design a lizard-inspired robot driven by a single actuator. Lizard-inspired robots in previous studies had the issue of slippage of their supporting legs. To overcome this issue, a lizard-inspired robot consisting of a four-bar linkage mechanism was designed. The purpose of this paper was achieved through three processes. The first process was kinematic analysis, where the turning angle and stride length of the robot were analyzed. The kinematic analysis results were verified via numerical simulations. The second process was the design and fabrication of the robot. For the robot’s design, both a shuffle-walking method utilizing a claw-shaped leg mechanism and a sliding-rod mechanism for equipping the actuator on the robot’s own coordinates were designed. The third process was experimental verification. The first experimental result was that the claw-shaped leg mechanism was capable of generating an 85.26 N difference in the static frictional force in the longitudinal direction. The other three experimental results were that the robot was capable of driving with 3.51%, 3.16%, and 3.53% error compared to the kinematic analyses, respectively.
Highlights
IntroductionLegged robots are always the most popular choice for robotics researchers due to their benefits over traditional wheeled robots or those that follow automated stages in applications such as mobility over irregular terrain [1,2,3]
Their robot was designed to move across a characteristic landscape containing uneven ground, and it can be used for humanitarian demining [5]
A lizard possesses the I-type morphology. It improves its walking efficiency through the flexion movement of the trunk instead of through leg locomotion, especially when running quickly. This characteristic enabled us to decrease the number of actuators, and may even lead to a multi-legged robot that is driven by a single actuator, which will help in addressing the issue of the energy efficiency of multi-legged robots
Summary
Legged robots are always the most popular choice for robotics researchers due to their benefits over traditional wheeled robots or those that follow automated stages in applications such as mobility over irregular terrain [1,2,3]. Bartsch et al built the “SpaceClimber 1”, which is a bio-inspired, six-legged, and vibrancy-effective robot. This robot was planned for use in extraterrestrial surface investigation, especially for portability in lunar pits [4]. Estremera et al described the improvement of a hexapod robot, “SILO-6”, using crab and turning gaits. Their robot was designed to move across a characteristic landscape containing uneven ground, and it can be used for humanitarian demining [5].
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