Effect of Feet Failure and Control Uncertainties on the Locomotion of Multi-Legged Miniature Robots

Abstract

This study investigates the effects of control uncertainties and random feet failures on the locomotion of the multi-legged miniature robots. The locomotion analyses results are verified with our modular multi-legged miniature robot with a soft/hybrid body named SMoLBot. A single SMoLBot module is 44.5 mm wide, 16.75 mm long, and 15 mm high with two individually actuated and controlled DC motors. This individual actuation makes it feasible to run with any imaginable gait, making SMoLBot a nice candidate for gait study analyses. The presented locomotion study shows that the effects of control uncertainties and feet failures are highly dependent on the total number of legs and the type of backbone attached to the robot, e.g., increasing the total number of legs or utilizing a rigid backbone on the robot helps the robot to walk faster compared to similar robots with soft backbones or the ones with fewer modules. This study presents a guide to the researchers on the effects of feet failures and control uncertainties on the locomotion of soft/hybrid multi-legged miniature robots.