Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism

Tang, Zhao1,2; Wang, Kun3; Spyrakos-Papastavridis, Emmanouil3; Dai, Jian S.1,3

2022-12-01

10.1115/1.4054408

Journal of Mechanisms and Robotics-Transactions of the ASME   影响因子和分区

1942-4302

1942-4310

This article presents the Origaker, a novel multi-mimicry quadruped robot. Based on a single-loop spatial metamorphic mechanism, the Origaker is able to transform between different working modes, as the reptile-, arthropod-, and mammal-like modes, without disassembly and reassembly. The combination of the metamorphic mechanism and the quadruped robot enables the Origaker to pitch vertically, twist horizontally, and change the positional correlation between the trunk and legs. In consideration of its reconfigurability and structure adaptability, gaits and movement strategies, namely, the fast spinning gait, the stair climbing gait, the self-recovery, packaging, and crawling through narrow spaces and right-angled bends, were proposed and analyzed, demonstrating that the metamorphic mechanism provides the robot with enhanced locomotivity. Finally, a prototype was developed and experimentally tested. The experiment demonstrates that the robot can crawl over various surfaces, execute the designed gaits and strategies on different terrains, and conquer challenging obstacles.

quadruped robot metamorphic mechanism reconfiguration mechanism design Origami biomimetics

SCI

英语

第一 ; 通讯

Natural Science Foundation of China[51535008] ; Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]

Engineering ; Robotics

Engineering, Mechanical ; Robotics

WOS:000877765800006

ASME

Web of Science

1.Southern Univ Sci & Technol, SUSTech Inst Robot, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Peoples R China
2.DR Robot Ltd, Hengqing 519031, Zhuhai, Peoples R China
3.Kings Coll London Strand, Ctr Robot Res, Dept Engn, London WC2R 2LS, England

Tang, Zhao,Wang, Kun,Spyrakos-Papastavridis, Emmanouil,et al. Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism[J]. Journal of Mechanisms and Robotics-Transactions of the ASME,2022,14(6).

Tang, Zhao,Wang, Kun,Spyrakos-Papastavridis, Emmanouil,&Dai, Jian S..(2022).Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism.Journal of Mechanisms and Robotics-Transactions of the ASME,14(6).

Tang, Zhao,et al."Origaker: A Novel Multi-Mimicry Quadruped Robot Based on a Metamorphic Mechanism".Journal of Mechanisms and Robotics-Transactions of the ASME 14.6(2022).