Mechanical design and motion planning of a centipede-inspired robot

Motion planning for hyper-redundant robots in complex terrains has always been a research hotspot in robotics. The main difficulty faced by hyper-redundant robots lies in motion planning on complex terrains such as steps. This study took the centipede as the simulation object and developed a centipede-inspired robot (CeRob). The CeRob consists of 7 independent modules, where each inter-module joint provides two independently controllable DOFs (pitch and yaw). Each module is symmetrically equipped with two single degree-of-freedom (DOF) cam-linkage leg mechanisms, which provide good reliability while meeting trajectory requirements. Subsequently, a front-planning and rear-following motion planning method was proposed. By combining the established objective function and constraints for motion planning of the front joints and achieving smooth following of subsequent motions through the joints, the motion planning efficiency of the robot was improved. The robot designed in this study has broad application prospects in fields such as post-disaster rescue, planetary exploration, and military reconnaissance.