A bionic crab-like robot prototype

Abstract

Research,design,and construction were performed on a crab-like robot with 8 legs and 24 degrees of freedom.The aim was to create a robot that could walk on a beach,reef,and uneven terrain automatically.It used a double-layers control system using ARM technology,which could obtain surrounding information by multi-sensors and make adjustments.Results presented here include shape analysis of the crab,establishment of the robot model,kinematics analysis,gaits study of the eight-legged robot,design of machine framework,control system design,and the experiment of the prototype,which came after a single-leg test.During experiments the prototype showed good agility and could get over obstacles. Study on the bionic crab-like robot provides a theoretic and practical base for research on a bionic multi-leg robot.