Navigation of miniature legged robots using a new template

Abstract

This paper contributes to the area of miniature legged robots by investigating how a recently introduced bio-inspired template for such robots can be used for navigation. The model is simple and intuitive, and capable of capturing the salient features of the horizontal-plane behavior of an eight-legged miniature robot. We validate that the model can be combined with readily available navigation techniques, and then use it to plan the motion of the eight-legged miniature robot, which is tasked to crawl at low speeds, in obstacle-cluttered environments.