Walking Gait of a Single-Tetrahedral Robot: Design, Modeling and Implementation

摘要

A Tetrahedral Walker (TET Walker) is a robot made to extend space exploration into inaccessible regions. The motion of the tetrahedron is due to the changes in the struts length. This work presents the implementation and walking gait design of a tetrahedron walker robot. A model for walking gait of the robot is developed. A comparison is then made between different computer simulations of the gaits. A navigation algorithm for walking gait of this type of robots is also developed and discussed.