Design and evaluation of reconfigurable Klann mechanism based four legged walking robot

Abstract

In this paper design, integration and functional evaluation of reconfigurable Klann based four legged robot platform is reported. Here a four legged platform generating six useful gaits is implemented. The design process, mechanical assembly, electronic control and transformation mechanism for various scenarios is reported. The designed platform is able to control servo motors to generate various gaits of interest in an efficient manner. By adopting Klann mechanism and extending reconfiguration in the designed platform several bio inspired gaits resembling natural system has been envisaged.