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Radial-skeleton shape-changing robots are rough-terrain robots and exhibit many advantages in the aspect of mobility, such as excellent terrain adaptability, light weight, good portability, and stable configuration. However, existing gait generation methods are rough and yield low tracking accuracy because the leg-ground contact friction is difficult to predict and control. In addition, no closed-loop control scheme has been proposed for this type of robot. In this study, we designed a 12-legged radial-skeleton robot with a radial expansion ratio of 2.08. Based on the prototype, we proposed a high-precision gait generation algorithm that can be used to any multi-legged radial-skeleton robot and implemented a closed-loop control scheme for accurate path tracking. Combining the contact friction and multi-body dynamics model, the robot prototype exhibits the advantages of omnidirectional motion, high-precision tracking, and motion robustness. By manufacturing a prototype and conducting comparative experiments, we verified that the proposed method yields good performance in terms of trajectory tracking accuracy and robustness in the cases of unknown terrain and interference.

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Brugada syndrome is an inherited arrhythmogenic disorder that exhibits ECG ST-segment elevation with a negetive T-wave in the right precordial leads (V 1 -V 2 ), with normal heart structure, predisposing to VF and SCD. Its symptoms include syncope, nocturnal agonal respiration and cardiac arrest. Recently, reserches on Brugada syndrome had archived some advances, for examples, regarding to exposuring concealed Brugada 1 type ECG, besides pharmacological provocation, there are two orter methods: putting right precordial lead on the second intercostal space or Holter monitoring; early repolarization(J-wave) has important value in prognostic judgment of Brugada syndrome; radiofrequency catheter ablation was generally applied only in epicardium of RVOT in the past, while it has been applied in endocardium of RVOT today. Therefore, the endocardium of RVOT can be considered as an alternative site in the treatment of recurrent VF in Brugada syndrome.