Reconfigurable design of a passive locomotion closed-chain multi-legged platform for terrain adaptability

• A reconfigurable passive-locomotion closed-chain platform (RPCP) was proposed. • The mathematical models of kinematics and parameters optimization were established. • The reconfigurable design and analysis of terrain adaptability were carried out. • The reconfigurable passive locomotion experiments were performed. In order to enhance the adaptability of closed-chain multi-legged platform to uneven terrain, a reconfigurable passive locomotion closed-chain platform (RPCP) is proposed. On the basis of our previous research which focused on the locomotion on structured ground, we adopt reconfigurable design for trajectory flexibility. First, based on kinematics analysis , a reconfigurable design of the leg mechanism is proposed and adjustable trajectory parameters are analysed. Next, for the whole platform, reconfigurable assignments and strategies are analysed to satisfy different obstacle-surmounting requirements. Finally, a series of dynamic simulations and experiments are performed to testify the RPCP's walking performance and its passive obstacle-surmounting capability. It is shown that the RPCP can walk and accelerate on relatively slippery or soft ground, and can climb obstacles such as slopes and vertical walls by vector thrust. The research of RPCP provides a vector thrust-propelled method of reconfigurable closed-chain legged platform to improve the adaptability to terrain.