Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot
Hao Yin, Ruiqi Shi, Jiang Liu
TL;DR
This paper presents a new multi-segmented robot inspired by millipedes, designed for stability and adaptability in complex environments.
Contribution
A novel biomimetic millipede robot with a simplified CPG control strategy and validated performance on challenging terrains.
Findings
The robot walks stably using a wave-like gait under CPG control.
Leg failure has minimal impact on overall locomotion performance.
The robot maintains acceptable speed on complex terrain.
Abstract
Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs a novel multi-segment biomimetic robot based on an in-depth investigation of the millipede’s biological characteristics and locomotion mechanisms. Key leg joints of millipede locomotion are targeted, and a mathematical model of the biomimetic robot’s leg joint structure is established for kinematic analysis. Furthermore, a central pattern generator (CPG) control strategy is studied for multi-jointed biomimetic millipede robots. Inspired by the millipede’s neural system, a simplified single-loop CPG network model is constructed, reducing the number of oscillators from 48 to 16. Experimental trials are conducted using a prototype to test…
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Taxonomy
TopicsRobotic Locomotion and Control · Prosthetics and Rehabilitation Robotics · Muscle activation and electromyography studies