A novel biologically inspired tripod walking robot

Abstract

This paper describes a novel biologically tripod walking robot that is inspired by the tripod gaits existing in nature. The mechanical design problem is investigated by considering the peculiar requirements of leg mechanism to have a proper tripod walking gait. The proposed tripod walking robot is composed of three leg mechanisms with linkage architecture. The proposed leg mechanism is modeled for kinematic analysis and equations are formulated for simulation. A program is developed in Matlab environment to study the operation performance of the leg mechanism and to evaluate the feasibility of the tripod walking gaits. Simulation results show the operation characteristics of the leg mechanism and the feasible walking ability of the proposed tripod walking robot.