Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units

Abstract The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting. With only 6 degrees of freedom, the 16 mechanical legs walks steadily and surmounts obstacles on complex terrain. leg unit provides large workspace empowers to climb up in sizes, which enhances surmounting capability. adjustment requires as few independent adjusting actuators possible. Based kinematic analysis leg, biped quadruped are analyzed compared. configuration is designed obtain compact structure pragmatic performance. uncertainty size position process taken into consideration parameters adjustments feasible strategies for presented. Then 3D virtual model prototype built multi-body dynamic simulations experiments carried out. results from show that possesses good capabilities.