Study and design of an inchworm-like micro-robot walking mechanism

Abstract

The inchworm movement principle is studied in this paper firstly, and then by imitating the biological movement of the inchworm, the walking mechanism of inchworm-like micro-robot is studied and designed. The robot can achieve the unique rhythm of the inchworm-1ike movement based on the innovative design of the linkage mechanism. For the inchworm-like micro-robot, both walking gait and rotating gait are studied by the simulation research. The results show that the inchworm-1ike micro-robot walking mechanism is efficient, stable, and easy to be controlled. © 2011 Springer-Verlag.