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

The body structures and motion stability of worm-like and snake-like robots have garnered significant research interest. Recently, innovative serial-parallel hybrid segmented robots have emerged as a fundamental platform for a wide range of motion modes. To address the hyper-redundancy characteristics of these hybrid structures, we propose a novel caterpillar-inspired Stable Segment Update (SSU) gait generation approach, establishing a unified framework for multi-segment robot gait generation. Drawing inspiration from the locomotion of natural caterpillars, the segments are modeled as rigid bodies with six degrees of freedom (DOF). The SSU gait generation method is specifically designed to parameterize caterpillar-like gaits. An inverse kinematics solution is derived by analyzing the forward kinematics and identifying the minimum lifting segment, framing the problem as a single-segment end-effector tracking task. Three distinct parameter sets are introduced within the SSU method to account for the stability of robot motion. These parameters, represented as discrete hump waves, are intended to improve motion efficiency during locomotion. Furthermore, the trajectories for each swinging segment are determined through kinematic analysis. Experimental results validate the effectiveness of the proposed SSU multi-gait generation method, demonstrating the successful traversal of gaps and rough terrain.