Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure
Abstract
:1. Introduction
2. Robot Design
2.1. Body Design
2.2. Leg Design
2.3. Coupling Mechanisms’ Design
3. Control System
4. Methods and Algorithm for the Experiment
4.1. Walking Motion of a Single Robot
Algorithm 1: Pseudo-code of the robot’s walking sequence. | |
1: | leg1_joint2 and leg1_joint3 → maximum_angle |
2: | leg1_joint1 → forward_angle |
3: | For (i=1;3;++) |
legi_joint2 and legi_joint3 → initial_angle | |
Legi+1_joint2 and leg2_joint3 → maximum_angle | |
legi_joint1 → initial_angle | |
legi+1_joint1 → forward_angle | |
4: | leg4_joint2 and leg4_joint3 → initial_angle |
5: | leg4_joint1 → initial_angle |
4.2. Walking Motion of Connected Robots
5. Results
5.1. Walking Motion for a Single Robot
5.2. Walking Motion for Connected Robots
6. Discussion
7. Conclusions
Supplementary Materials
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Abbreviations
PC | Personal computer |
DoF | Degree of freedom |
ROS | Robot Operating System |
CPU | Central processing unit |
IMU | Inertial measurement unit |
r | Roll |
p | Pitch |
y | Yaw |
t | Time in seconds |
L | Leg |
R | Robot |
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Robot 1 | Robot 2 | |
---|---|---|
pitch, p | −9.121∼0.294 | −4.010∼6.215 |
roll, r | −2.894∼7.825 | −8.122∼8.774 |
yaw, y | −6.118∼2.606 | −5.657∼12.069 |
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Yeoh, C.E.; Yi, H. Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure. Appl. Sci. 2021, 11, 1379. https://doi.org/10.3390/app11041379
Yeoh CE, Yi H. Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure. Applied Sciences. 2021; 11(4):1379. https://doi.org/10.3390/app11041379
Chicago/Turabian StyleYeoh, Chin Ean, and Hak Yi. 2021. "Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure" Applied Sciences 11, no. 4: 1379. https://doi.org/10.3390/app11041379
APA StyleYeoh, C. E., & Yi, H. (2021). Conceptual Design of the Combinable Legged Robot Bio-Inspired by Ants’ Structure. Applied Sciences, 11(4), 1379. https://doi.org/10.3390/app11041379