Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability

Abstract

Multilegged robots can adapt to complex terrains, an ability that is highly important for their research and development. To improve the adaptability and fault tolerance of such robots, the modular design concept is applied by an increase in the number of modules. A modular multilegged robot contains a trunk with six modular leg structures that can be removed at will. The interface design of the trunk and legs can achieve good tightness and high strength, thereby ensuring quick disassembly and that the trunk and legs will not fall off while the robot walks. On this basis, the gait of a robot with different numbers of modular legs is designed. Then, kinematic and dynamic models of the robots with different gaits are established, and the motion performance, which provides reference for motion control and motor selection, is analyzed. Experiments show that the robot with different numbers of legs has good motion performance. This study serves as a useful reference for the design of modular multilegged robots.