Biometrics and kinematics of a four legged crawler robot

摘要

This work is focused on the development of a novel class of crawler robot, which mimics the behavioral biometrics of a four legged animal to walk. Much recent interest in the field of walking robot has been placed on the adaptation of principles found in animal locomotion. The most common instance is seen in the large numbe of walking robots that utilize four legs in a variety of gaits, intended to maintain static stability. Research would be needed to integrate biological aspects of animals that motivate the robots kinematic design, leg configuration and motivate the robots kinematic design, leg configuration and control structures. Further in this work, four legged crawler robot navigation system is developed for path finding to move around and avoid obstacles in the normal environments. Experimental studies are conducted to validate the gait stability, kinematics and biometrics of animals. The experimental results are discussed.