Abstract
This study aims to realize rolling locomotion by a multi-legged robot inspired by “wheel spider” in nature. A novel robot mechanism and a strategy for rolling locomotion is proposed in this paper based on motion analysis of wheel spider species in nature. We also present details of a model of a wheel-spider-inspired hexapod robot and design of its controller in realizing rolling locomotion. Results of numerical simulations validated the efficacy of the proposed approach in synthesizing rolling locomotion in a wheel-spider-inspired hexapod robot.
Highlights
Rolling locomotion which has high mobility has been applied many times to mobile robots
Spherical robots are an example of mobile robots performing rolling locomotion
The rolling locomotion utilizing gravity by the wheelspider-inspired hexapod robot on the flat ground is simulated to verify the effectiveness of the proposed controller
Summary
Rolling locomotion which has high mobility has been applied many times to mobile robots. Spherical robots are an example of mobile robots performing rolling locomotion. Spherical robots operate in hostile industrial environment, other planets or a human place like office or home. Spherical robots have been expected to obtain environmental data with sensors, gather and convey an object with an arm installed inside a spherical body in those environments [1–7]. It is considered that these environments have obstacles or difference in level that interrupt rolling locomotion. In this case, robots should apply other locomotion
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