Mechanized cockroach footpaths enable cockroach-like mobility

摘要

Implementing cockroach footpaths using simple leg mechanisms results in cockroach-like body motion in a hexapod robot called "mecharoach". The mecharoach utilizes rotary input four-bar mechanisms to achieve legged locomotion while being powered by only one DC motor. MechaRoach can walk at one body length per second and can climb a barrier 70% its height. High-speed video analysis of walking cockroaches and mecharoach indicates that mecharoach exhibits body motion during walking that is very similar to the cockroach. This suggests that footpaths and stepping patterns play a significant role in an animal or robot's overall body motion.