Latest Papers

ASME Journal of Mechanisms and Robotics

  • Robust Multilegged Walking Robots for Interactions With Different Terrains
    on May 26, 2023 at 12:00 am

    AbstractThis paper explores the kinematic synthesis, design, and pilot experimental testing of a six-legged walking robotic platform able to traverse through different terrains. We aim to develop a structured approach to designing the limb morphology using a relaxed kinematic task with incorporated conditions on foot-environments interaction, specifically contact force direction and curvature constraints, related to maintaining contact. The design approach builds up incrementally starting with studying the basic human leg walking trajectory and then defining a “relaxed” kinematic task. The “relaxed” kinematic task consists only of two contact locations (toe-off and heel-strike) with higher-order motion task specifications compatible with foot-terrain(s) contact and curvature constraints in the vicinity of the two contacts. As the next step, an eight-bar leg image is created based on the “relaxed” kinematic task and incorporated within a six-legged walking robot. Pilot experimental tests explore if the proposed approach results in an adaptable behavior which allows the platform to incorporate different walking foot trajectories and gait styles coupled to each environment. The results suggest that the proposed “relaxed” higher-order motion task combined with the leg morphological properties and feet material allowed the platform to walk stably on the different terrains. Here we would like to note that one of the main advantages of the proposed method in comparison with other existing walking platforms is that the proposed robotic platform has carefully designed limb morphology with incorporated conditions on foot-environment interaction. Additionally, while most of the existing multilegged platforms incorporate one actuator per leg, or per joint, our goal is to explore the possibility of using a single actuator to drive all six legs of the platform. This is a critical step which opens the door for the development of future transformative technology that is largely independent of human control and able to learn about the environment through their own sensory systems.

A Snake-Inspired Swallowing Robot Based on Hoberman’s Linkages


To solve the problems of existing swallowing robots, such as low load capacity, small deploy/fold ratio, and small swallowing space, this article presents a new snake-inspired swallowing robot (SSR) that can synchronously deploy and fold both axially and radially. The SSR is composed of multiple modules, each of which includes two end disk mechanisms (EDMs) and three connecting backbone mechanisms (CBBMs). The EDM is designed based on Hoberman’s linkages to achieve a radial deployment and a folding motion, while the CBBM is designed to realize the axial deployment and the folding movement and connect the EDMs. In addition, the driving device is designed. Then, to achieve the maximum deploy/fold ratio of the SSR and meet the requirements of assembly, the length of the rods is optimized on the basis of the kinematics analysis of the SSR. The final deploy/fold ratio reached up to 2.2459. The ratio of the maximum to the minimum swallowing space is 28.2754. In the end, experiments are conducted to evaluate the ability to swallow and store one object and multiple objects.

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