Caterpillar-Inspired Multi-Gait Generation Method for Series-Parallel Hybrid Segmented Robot

Area of Science:

• Robotics
• Biomimetics
• Mechanical Engineering

Background:

• Worm-like and snake-like robots are of significant research interest due to their body structures and motion stability.
• Serial-parallel hybrid segmented robots offer versatile motion capabilities but present challenges due to hyper-redundancy.

Purpose of the Study:

• To propose a novel caterpillar-inspired Stable Segment Update (SSU) gait generation approach for multi-segment robots.
• To establish a unified framework for generating gaits in hyper-redundant segmented robots.
• To improve motion stability and efficiency in robotic locomotion.

Main Methods:

• Modeled robot segments as rigid bodies with six degrees of freedom (DOF), inspired by natural caterpillar locomotion.
• Developed the Stable Segment Update (SSU) method to parameterize caterpillar-like gaits.
• Derived an inverse kinematics solution by analyzing forward kinematics and identifying the minimum lifting segment, treating it as a single-segment end-effector tracking task.
• Introduced three distinct parameter sets (discrete hump waves) within the SSU method to enhance motion stability and efficiency.
• Determined segment trajectories through kinematic analysis.

Main Results:

• The proposed Stable Segment Update (SSU) method effectively generates multi-segment robot gaits.
• Experimental results demonstrate the successful traversal of gaps and rough terrain using the SSU method.
• The approach validates the effectiveness of caterpillar-inspired locomotion for robotic systems.

Conclusions:

• The Stable Segment Update (SSU) method provides a unified framework for gait generation in hyper-redundant segmented robots.
• The caterpillar-inspired approach enhances motion stability and efficiency, enabling robots to navigate complex environments.
• This research contributes to the advancement of bio-inspired robotics and locomotion strategies.