Concept Development Of Biomimetic Centipede Robot StriRus

摘要

In this paper, we introduce a modification for legged locomotion and methods for biomimetic centipede robot design. Biomimetic centipede robots can be well-suited to a number of applications, including search-and-rescue around demolished rubble, logistics in rocky and hazardous areas, and more. The design space for such robots is quite large, with numerous open possibilities for body and leg shapes, configurations, and numbers of components. In contrast to similar robotic platforms proposed prototype can move in any direction. Moreover, proposed design allows robot to operate in either omni-direction or conventional states without changing components. It was shown that new design provides better cross-country passability. Structural synthesis of Biomimetic Centipede Robot StriRus was made using evolutionary algorithm and simulation, which includes optimization the number of legs and angles between neighbor legs. Crosschecked angle optimization was done using kinematics.