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Turning gaits and optimal undulatory straight-line gaits for a walking myriapod millirobot are presented. Simulation and experiments show that body undulations similar to those found in natural centipedes enhance straight-line locomotion via increased speeds and reduced cost of transport for myriapod millirobots with passively flexible bodies composed of a variety of segments. A simple turning strategy...
The design and modeling of a segmented myriapod millirobot with a compliant body is presented. A dynamic model is used to demonstrate how body undulations can result from only varying the phase difference in the stance change between adjacent segments - even with passive intersegmental connections - and how these gaits affect locomotion. Different gaits are demonstrated experimentally in a 20-leg,...
The kinematic design of a multi-segment ambulatory microrobot inspired by centipedes is presented. The kinematics of five repeated segments joined by a flexible backbone of rigid links and flexures are described and simulated. The kinematic model was used to guide the design of an individual two degree of freedom segment, which was fabricated using the Smart Composite Microstructures process. Testing...
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