Abstract
Inspired by the morphological characteristics of biological capsules and the two-anchor motion mechanism of worms, this paper proposes a novel deformable capsule-like crawling robot based on scissor elements, including the design, modeling, and experimental validation. The robot is designed based on three different types of scissor elements driven by micro-servos to achieve programmable, bidirectional and controllable deformation. Then, a passive friction-switch mechanism that takes advantage of the deformation to mimic the two-anchor motion principle is proposed, which enables the robot to have the required front and rear friction difference for the motion. Moreover, according to the kinematic and mechanic analysis of the proposed robot, a general model to achieve programmable deformation and locomotion is developed. Given that the slippage due to the friction trade-off between the robot’s legs and the ground, an approach considering slippage to estimate the locomotion is proposed. Finally, the prototype of the capsule-like crawling robot is experimentally validated, and the results reveal that the deformation and locomotion of the robot can be effectively achieved.
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