Leg-body coordination strategies for obstacle avoidance and narrow space navigation of multi-segmented, legged robots.

ABSTRACT:

Introduction

Millipedes can avoid obstacle while navigating complex environments with their multi-segmented body. Biological evidence indicates that when the millipede navigates around an obstacle, it first bends the anterior segments of its corresponding anterior segment of its body, and then gradually propagates this body bending mechanism from anterior to posterior segments. Simultaneously, the stride length between pairs of legs inside the bending curve decreases to coordinate the leg motions with the bending mechanism of the body segments. In robotics, coordination between multiple legs and body segments during turning for navigating in complex environments, e.g., narrow spaces, has not been fully realized in multi-segmented, multi-legged robots with more than six legs.

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SUBMITTER: Mingchinda N 

PROVIDER: S-EPMC10663368 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature