Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot
Hao Yin,
Ruiqi Shi,
Jiang Liu
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 stru… Show more
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