Design, Fabrication and Gait Planning of Alligator-inspired Robot

Abstract

This paper reports design, fabrication, and gait planning based on high walk diagonal trot gait pattern of an alligatorinspired robot having eight degrees of freedom. Each leg of the robot described in this paper has two revolute joints representing the hip and knee respectively which are actuated by servo motors. The body of the robot was fabricated on a CO 2 laser cutting machine. The 3D leg design was dividedinto two 2D components to enable manufacturing on a laser cutting machine to reduce fabrication cycle time. Finally, a general-purpose kinematics based model has been reported that is used to designand implement a high-walk gait on the developed robot.