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Achieving agile steering in hexapod robots with underactuated legs is challenging. This study shows that intentional slipping is crucial for effective steering, suggesting new modeling approaches for multi-legged robots.

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Area of Science:

  • Robotics
  • Biomechanics
  • Mechanical Engineering

Background:

  • Hexapedal robots offer inherent stability due to their posture and multi-legged support.
  • Achieving insect-like agility and maneuverability, particularly steering, remains a significant engineering challenge for hexapods, especially those with underactuated legs.

Purpose of the Study:

  • To formally define steering in the context of multi-legged robots.
  • To investigate the difficulties in steering robots with six or more underactuated legs.
  • To explore the role of leg slipping in enhancing steering capabilities.

Main Methods:

  • Formal definition of steering for multi-legged robots.
  • Analysis of steering limitations in underactuated hexapods.
  • Experimental validation of steering performance with intentional slipping.

Main Results:

  • Steering is shown to be impossible for many hexapods with underactuated legs without slipping.
  • Experimental results highlight the necessity of controlled slipping for optimizing steering ability.
  • Conventional non-slip contact models may underestimate the performance envelope of these robots.

Conclusions:

  • A formal definition of steering clarifies its complexity in underactuated hexapods.
  • Intentional slipping is a critical factor for achieving effective steering in such robots.
  • Non-holonomic multi-legged slipping models are proposed as more suitable than dynamic models for representing these robots.