Abstract

In this paper, we develop an analytical framework for designing the locomotion of mobile robots with a circular core and equispaced diametral legs, each having a radial translational degree of freedom. The mechanism has resemblance with certain cellular locomotion. The robot travels by radial actuation of the legs in a sequential and synchronized manner. Two elementary regimes of motion are first designed using the geometry and degrees of freedom of the mechanism. Overall motion of the robot is generated by repeated switching between the two regimes. The paper addresses both kinematics and kinetics of the mechanism, enabling the prediction of trajectories and computation of constraint as well as actuation forces. Simulation results are provided in support of the theory developed.

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