Centipede type multi-legged walking robot

Abstract

1 -* p r o p o s e a centipede type multi-legged walking robot, which has 10 legs o r over.Since the centipede type walking robot has more legs than other type robots, a centipede type walking robot transport more heavy payload than an other type robot. The walking sequence of this robot is different from conventional multi-legged walking robot that has a half cycle difference between the front and rear neighbor legs. A lateral pair of legs makes a unit, and a unit follows the movement of the front neighbor unit with a quarter delay of the walking cycle. Thus, this robot walks with statically stable condition. This robot also differs from conventional walking robots that have a controller t o control movement of whole robot legs. This centipede type walking robot has computers for each pair of legs. These computers control legs and communicate the front and rear neighbor computers. No computer of these computers controls the whole robot. All legs without the head pair of legs follow the movement of the front neighbor legs with quarter walking cycle delay, then the whole robot walks with static stability.-% ( x h h w LIntroduction Walking robots has availability for moving on rough terrain. Recently many types of walking robots were developed[l-31. About almost multi-legged walking robots two legs which are neighbor each other on one side of robot move a t a half cycle difference on the walking cycle.And each almost walking robots has a computer that controls whole system of robot. To increase the payload of a robot or to decrease the load per one leg, a walking robot needs more legs. Thus, we proposed a centipede type multi-legged robot. This robot has 10 or more legs and has no computer to control the whole robot but has many computers to control each pair of legs. The motion of a leg is similar but with a quarter cycle delay of walking cycle against the front neighbor leg.In this paper w e mention t h e walking sequence of the centipede robot in section 2, the hardware and the foreEard software of the robot in section 3, the experiment result of the prototype walking robot in section 4 and the conclusion of this paper in section 5. 2.Walking SequenceA t most insects and spiders walking, a leg moves with half cycle difference against the front or rear neighbor leg's motion [l-8]. A centipede walks by moving legs like a wave [B]. In this motion a leg moves with less half cycle delay against the neighbor front leg motion[5]. Fig.1 and Fig2 show the difference of these walking style. Fig.1 shows the insect type walking sequence and Fig.2 shows the centipede type walking sequence. The legs of the insect type walking robot are divided in two groups that move simultaneously a t walking cycle motion. The triangles wrote by using broken line in the F i g 1 shows the legs companyed with each other. One of these groups must contact ground to support the robot statically a t each moment. Fig.2 shows the motion of the centipede type foreward i n i t i a l -O contact -free one S t e p foresard foresard gravity cen 3 of rob...

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