Biomimetic Wheeled-foot Robot Based on the Motion Mechanism of Moroccan Spider

With the progressive development of technology, the application of rescue and detection robots for irregular terrain has gradually become popular. Nowadays, robots are mainly divided into foot and wheeled robots. Foot robots are suitable for moving over irregular terrain and have better adaptability to rugged and complicated environments. However, the foot robot has a lower moving efficiency. In comparison, wheeled robots usually have a simpler mechanical structure and a higher moving efficiency. This study discusses a wheeled-foot biomimetic robot that has reconfigurable crescent-shaped legs. This design enhances the moving efficiency of the biomimetic robot by allowing it to switch between rolling and walking motion mechanisms. The biomimetic robot has three gaits, including walking gait, rolling gait, and ramp-rolling gait. This study further optimizes the three gaits and analyzes each of their characteristics and application by comparing the efficiency of the walking and rolling gait, and testing the hip joint angle that can maximize the anti-rollover ability of the robot. The reconfigurable crescent-shaped legs can curl up into a wheel shape and extend into mechanical legs. The structure of the biomimetic robot can be classified into a body and four reconfigurable crescent-shaped legs. The biomimetic wheeled-foot robot can be manipulated by connecting it to Bluetooth via cell phone and input the corresponding word to realize remote control.