Design and implementation of multi-legged robot with dual drive: Gait and motion stability

摘要

In this study, a new eight-legged bionic crab detection robot is designed, taking inspiration from crabs, to address the limitations of traditional multi-legged walking robots. Instead of using complex multipod structures and multiple powerful engines, the robot is equipped with dual motors for walking and specialized linkages for claw movement. Motion simulations are conducted, employing a diagonal gait for straight and turning motions. Stability assessments are performed using the stability margin method. By combining Adams and Matlab/Simulink, a kinematic model is created to enable simulations and analysis of body displacement and changes in the center of gravity. The robot is subjected to testing for straight, turning, and obstacle avoidance motions, demonstrating stable movement. Its performance provides a solid theoretical foundation for the development and practical application of such robots.