Abstract
Beetles are six-legged insects that show stability, not only in their walk, but also in other skills, such as that of dragging objects. As a result, their study is of great interest in limb-based mobile robotics. This research studies the dung beetle endemic to Mexico (i.e. genus Canthon) to propose a galloping gait model. First, we analyze video frames of the gait cycle, and then, we estimate the spatial positions of each of the beetle’s limbs. Next, we define the equations for the angular position of the inverse kinematic model for one limb. Finally, considering all the limbs as having the same configuration, we perform the simulation of the mathematical model given the obtained spatial position parameters and equations. The results indicate high similarity between the mathematical model and the biological model.
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