Design and Implementation of a Lizard-Inspired Robot
Round 1
Reviewer 1 Report
This paper deals with research on a lizard-shaped robot operated by a single actuator. The walking is implemented in connection with the kinematic analysis and actual implementation of the designed robot. At this time, a kinematic structure to eliminate slippage is proposed and the walking motion is performed using specially designed claws at each foot. In order to develop into a better paper, we suggest the following,
1) Please describe in detail the shape of the claw and how to touch on the ground at each phase, and describe the role of the claw at the moment when the angle of support is switched.
2) If there is a method to eliminate the error that appears in comparison with simulation during straight walking or rotational walking, please suggest it at the experiment section. Basically, since it is a static gait, there may be a significant difference in error depending on the ground condition.
3) There seems to be a problem in practical application with a certain purpose because the walking method is purely based on kinematic analysis. In order to actually use it, dynamic movement should be used and gait control should be performed using feedback. If you have an idea to expand the proposed concept, please describe it as a future plan.
4) Minor formula errors are found. Change the formula p24=z234p22 just below item 215 on page 7 to p24=z234p23
Author Response
We sincerely thank you for your time and valuable comments in reviewing our paper, we greatly appreciate it. We have revised the paper taking into account the reviewer comments seriously. We are now submitting the revised manuscript for review and publication. Our reply to reviewer comments are as below,
Reply to Reviewer #1
- Comment 1-1:
Please describe in detail the shape of the claw and how to touch on the ground at each phase, and describe the role of the claw at the moment when the angle of support is switched.
We thank the reviewer for the appropriate remarks. In our previous manuscript, the explanation of the function of the leg mechanism was insufficient. We have added a new photograph shown in Fig. 16 and a more detailed explanation in lines 338-345 on pp. 14-15. They are highlighted in blue.
- Comment 1-2:
If there is a method to eliminate the error that appears in comparison with simulation during straight walking or rotational walking, please suggest it at the experiment section. Basically, since it is a static gait, there may be a significant difference in error depending on the ground condition.
We thank the reviewer for the appropriate remarks. As the reviewer pointed out, depending on the ground condition, there may be a large error. A new leg mechanism is needed to solve the error. We have added "4.5 Discussion" about solving the error and developing the leg mechanism in this situation. It is highlighted in blue.
- Comment 1-3:
There seems to be a problem in practical application with a certain purpose because the walking method is purely based on kinematic analysis. In order to actually use it, dynamic movement should be used and gait control should be performed using feedback. If you have an idea to expand the proposed concept, please describe it as a future plan.
We thank the reviewer for the important suggestion. As the reviewer pointed out, this work is still in its early stages, and many issues need to be resolved before it can be used in a specific application. We have added future perspectives in lines 506-512 of the "Conclusion". They are highlighted in blue.
- Comment 1-4:
Minor formula errors are found. Change the formula p24=z234p22 just below item 215 on page 7 to p24=z234p23
We thank you for reviewer's indication. We have modified it.
Thanks again for your time, considerations and valuable comments.
Yours Sincerely,
Shunsuke Nansai, Yuki Ando, Hiroshi Itoh, and Norihiro Kamamichi
Author Response File: 
Author Response.pdf
Reviewer 2 Report
An interesting concept which has been developed until the real device and experiments with it.
Because of symmetry (in ideal case certainly), it is not necessary to distinguish between CW and CCW turning.
It would fine to know the change of the motion characteristics for the different surface materials (friction characteristics). What are obstacle limits as to the vertical profile of the terrain? I mean which obstacles it is possible to overcome and which it is not. It would have the implication to the usability of this concept in real-world applications.
Author Response
We sincerely thank you for your time and valuable comments in reviewing our paper, we greatly appreciate it. We have revised the paper taking into account the reviewer comments seriously. We are now submitting the revised manuscript for review and publication. Our reply to reviewer comments are as below,
Reply to Reviewer #2
- Comment 2-1
Because of symmetry (in ideal case certainly), it is not necessary to distinguish between CW and CCW turning.
We thank the reviewer for the suggestion. As for the left-right symmetry shown in this paper, this is due to the coordinate system we proposed, shown in Fig. 3. Therefore, this left-right symmetry is also one of our contributions.
- Comment 2-2:
It would fine to know the change of the motion characteristics for the different surface materials (friction characteristics). What are obstacle limits as to the vertical profile of the terrain? I mean which obstacles it is possible to overcome and which it is not. It would have the implication to the usability of this concept in real-world applications.
We thank the reviewer for the important suggestion. As the reviewer pointed out, this work is still in its early stages, and many issues need to be resolved before it can be used in a specific application. We have added future perspectives in lines 506-512 of the "Conclusion". They are highlighted in blue.
Thanks again for your time, considerations and valuable comments.
Yours Sincerely,
Shunsuke Nansai, Yuki Ando, Hiroshi Itoh, and Norihiro Kamamichi
Author Response File: Author Response.pdf
