The design and modeling of a segmented myriapod millirobot with a compliant body is presented. A dynamic model is used to demonstrate how body undulations can result from only varying the phase difference in the stance change between adjacent segments -even with passive intersegmental connections -and how these gaits affect locomotion. Different gaits are demonstrated experimentally in a 20-leg, 2.2 gram millirobot, and the resulting motion is compared to that predicted by the simulation. Both simulation and experiments show that undulatory gaits can increase the average speed of straight-line locomotion as compared to non-undulatory gaits for the same stepping frequency. The model and the millirobot can be used concurrently with biological studies to understand aspects of myriapod locomotion. This robot is also a useful tool to gain insight into how flexibility can be introduced into robots at this scale to enhance locomotion.
This paper introduces a multi-locomotion robot which has multiple types of locomotion.The robot is developed to achieve a bipedal walk, a quadrupedal walk and a brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a
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