Design of a Rigid-flexible and Multi-legged Robot Based on a Scorpion Tail Structure

In the past few decades, multi-legged robots have been widely used in agriculture, construction, rescue and other fields for their excellent flexibility and good adaptability. However, for most multi-legged robots, due to the limitation of their materials and layout, they can only complete some simple tasks. According to the physical characteristics of scorpions, this paper studies a rigid-flexible hexapod soft robot, which uses traditional rigid materials as the main trunk and six walking feet. The scorpion tail bionic structure is also used as the end pneumatic soft actuator to adapt to different situations and realize the overall rigid-flexible combination. The robot uses a triangular gait algorithm combined with fuzzy PID for motion control. The Lora module aims to upload the information in the camera module, barometer module and self-developed circuit module to the cloud platform. Meanwhile, issue commands through the cloud platform. Such a structural design innovation enables the robot to have stronger adaptability and flexibility in grasping operation, which provides new insights for their subsequent development.