A Bio-inspired Apodal and Modular Robot

摘要

Reconfigurable modular robotics is based on the use of autonomous units that can be attached in many ways to exert different kinds of functions. The main idea consists on the robot's capacity to adapt to unexpected environmental circumstances and execute its mission. The current work's goal is the adaptation of the mechanical system for the apodal movement, based on bio-inspired configuration of a snake for search and rescue situations on debris. Some aspects of the movement are described, followed by the definition and development of the robot's structure, aiming for low cost production and easy replacement of the modules. Simulations and experimental tests were conducted to evaluate the robot's performance.