Abstract Purpose – This paper seeks to develop a novel legged robot. Design/methodology/approach – First, the paper models the legged robot using 3D computer model by intelligent inspiration of biological principles. Then, based on this model, it develops the prototype of the legged robot. Findings – A novel motion mechanism is used and only two actuators are used for driving the system. Origin...

We present a general motion planning scheme for a class of legged robots that walk in a quasi–static manner. The method does not depend upon the number of legs, nor is it based on foot placement concepts. Instead, our method is based on an extension of a nonlinear motion planning algorithm for smooth systems to the legged case, where the relevant dynamics are not smooth. The configuration space...

We propose a new horizontal locomotion model to describe the motion of an eight-legged bio-inspired miniature robot. The model does not include compliance, and can capture the kinematics of the observed locomotion behavior that corresponds to an alternating tetrapod gait. We exploit symmetries and synergies to reduce the eight-legged robot to a mechanism that is composed by two switching four-b...

Kinematic models of legged robots are stratified, i.e. the equations of motion differ on different strata. An improved version of the motion planning algorithm proposed in the literature is compared with two alternative solutions via the example of the six-legged (hexapod) robot. The first alternative uses explicit integration of the vector fields while the second one exploits the flatness of a...

Purpose – This study seeks to develop a novel eight-legged robot. Additionally, this study defines design and control of an eight-legged single actuator walking ROBOTURK SA-2 spider robot based on the features of a creatural spider. Design/methodology/approach – First, the single actuator eight-legged tetrapod walking spider robot was modeled on solid works and then the animation of the model w...

Legged robots display a characteristically periodic motion. Measuring and tracking this motion has traditionally been performed using general inertial measurement techniques. While widely applied in robotics, this approach is limited in dynamic legged locomotion due to the excessive accumulation of drift from severe impact shocks (nearly 9g in single leg experiments). This paper introduces the ...

Manual design of motion patterns for legged robots is difficult task often with suboptimal results. To automate this process variety of approaches have been tried including various evolutionary algorithms. In this work we present an algorithm capable of generating viable motion patterns for multi-legged robots. This algorithm consists of two evolutionary algorithms working in co-evolution. The ...

The paper provides experimental evidence to support the recently introduced Switching Four-bar Mechanism (SFM) model as a template for small-scale legged locomotion in quasi-static operation regimes. The evidence suggests that the SFM is suitable for capturing salient motion behaviors—or motion primitives—for multiple, morphologically distinct miniature legged robots. Such primitives can be use...