# Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot

## 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.

## Key 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 walking in a wave-like gait, walking with a leg removed, and walking on complex terrain. The results demonstrate that under CPG waveform input conditions, the robot can walk stably, and the impact of a leg failure on overall locomotion is acceptable, with minimal speed loss observed when walking on complex terrain. The research on the structure and motion control algorithms of multi-jointed biomimetic robots lays a technical foundation, expanding their potential applications in exploring unknown environments, rescue missions, agriculture, and other fields.