Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot

Area of Science:

• Robotics
• Biomimetics
• Control Systems

Background:

• Multi-legged robots offer stability and adaptability for critical applications like rescue and healthcare.
• Millipedes exhibit efficient locomotion through their multi-segmented bodies and coordinated leg movements.

Purpose of the Study:

• To design and develop a novel multi-segment biomimetic robot inspired by millipede locomotion.
• To investigate and implement a central pattern generator (CPG) control strategy for the robot's movement.
• To evaluate the robot's locomotion performance under various conditions, including leg failure and complex terrain.

Main Methods:

• In-depth analysis of millipede biological characteristics and locomotion mechanisms.
• Development of a mathematical model for the robot's leg joint structure and kinematic analysis.
• Implementation of a simplified single-loop CPG network model, reducing oscillators from 48 to 16.
• Experimental testing of a prototype robot for wave-like gait, locomotion with a removed leg, and performance on complex terrain.

Main Results:

• The biomimetic robot achieved stable walking using the CPG control strategy.
• Locomotion remained acceptable with a simulated leg failure, showing minimal speed reduction.
• The robot demonstrated effective movement on complex terrain, validating the control system's robustness.

Conclusions:

• The developed multi-jointed biomimetic robot and its CPG control system provide a foundation for advanced robotic applications.
• The robot's adaptability and stable locomotion performance highlight its potential for exploration, rescue, and agriculture.
• This research contributes to the field of biomimetic robotics by successfully replicating and controlling complex multi-legged movement.