Kinematic Analysis of Theo Jansen Mechanism-Based Eight-Leg Robot

Comparison of Spider-Robot Information Models

“…Most scientists take natural analogues of spiders or other animals [9], [13]- [21]. Therefore, most of such robots tend to have an even number of limbs, four [6], [16], six [22]- [25] or eight [3], [5], [26]- [30]. In addition to the number of limbs, researchers are trying to adopt some features of the movement of spiders, for example, the ability to jump [22], [31] and run [22], move over rough terrain [24], [26], [32], [33], grip [2], [9], [34], and flip from the back [35].…”

“…Therefore, most of such robots tend to have an even number of limbs, four [6], [16], six [22]- [25] or eight [3], [5], [26]- [30]. In addition to the number of limbs, researchers are trying to adopt some features of the movement of spiders, for example, the ability to jump [22], [31] and run [22], move over rough terrain [24], [26], [32], [33], grip [2], [9], [34], and flip from the back [35]. Part of the research is devoted to finding optimal algorithms for moving limbs [29], finding stable support points [36]- [39] or considering rolling as another way to move limbs [40].…”

“…In the Simulink environment, the authors in [23] develop a fast gait model for a spider-robot. The work [26] uses Theo Jansen Mechanism to move limbs, which is one way to mimic the gait of animals. Scientists in Japan have created a prototype spider-robot that can walk and drive by switching to wheels embedded in limbs [46].…”