2019
DOI: 10.1155/2019/8261617
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Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability

Abstract: Multilegged robots can adapt to complex terrains, an ability that is highly important for their research and development. To improve the adaptability and fault tolerance of such robots, the modular design concept is applied by an increase in the number of modules. A modular multilegged robot contains a trunk with six modular leg structures that can be removed at will. The interface design of the trunk and legs can achieve good tightness and high strength, thereby ensuring quick disassembly and that the trunk a… Show more

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Cited by 6 publications
(4 citation statements)
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References 37 publications
(50 reference statements)
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“…Platforms such as Snapbot [28][29][30] and Snake Monster [31] connect modular component around a purpose designed torso. Both platforms demonstrate mobility with different numbers of modules attached.…”
Section: Literaturementioning
confidence: 99%
“…Platforms such as Snapbot [28][29][30] and Snake Monster [31] connect modular component around a purpose designed torso. Both platforms demonstrate mobility with different numbers of modules attached.…”
Section: Literaturementioning
confidence: 99%
“…For example, a SMORES-EP module is capable of actuating no more than 3.1 SMORES-EP modules when cantilevered, thus restricting the size and the maximum number of units in the robot. Platforms such as SnapBot ( Kim et al, 2017 ; Ha et al, 2018 ; Ning et al, 2019) and Snake Monster ( Kalouche et al, 2015) reduce the number of modules chained together by connecting modular actuators to a purpose-designed torso. However, the torso on both SnapBot and Snake Monster represents a single point of failure as it provides all communication and power to the limbs.…”
Section: Introductionmentioning
confidence: 99%
“…Crawler robots can better navigate obstacles and have better ground adaptability on unstructured ground but have the disadvantage of high energy consumption. Legged robots have the best moving performance on rough terrain, with the disadvantages of slow speed and complicated mechanism and control systems [14][15][16]. At present, the wheel-leg hybrid mobile robot has become the focus of research because many of the advantages of wheeled and legged robots can be integrated [17][18][19].…”
Section: Introductionmentioning
confidence: 99%