Actuator Design and Whole-Body Dynamics of Micro Centipede Robots

Micro robots have been recognized as a promising solution for exploring complex and dangerous environments during rescue and reconnaissance missions. The idea of micro centipede robots is drawing increasing attention because of their great potentials to get through rubble and reaching buried areas. This paper explores the possibility of using micro electromagnetic actuators on micro centipede robots, which could give better mobility than using piezoelectric actuators. This paper also discusses the whole-body dynamics of centipede robots. A series of simulation studies are conducted to draw conclusions on how the propulsion characteristics of individual legs and the ground friction affect the dynamics and stability of the whole centipede robot.