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A Highly Mobile Crawling Robot Inspired by Hexapod Insects | IEEE Conference Publication | IEEE Xplore

A Highly Mobile Crawling Robot Inspired by Hexapod Insects


Abstract:

Rescue robots are usually used in security and disaster investigating missions. Yet the complex control and actuation systems make them very heavy and expensive. This pap...Show More

Abstract:

Rescue robots are usually used in security and disaster investigating missions. Yet the complex control and actuation systems make them very heavy and expensive. This paper proposed a novel crawling robot named "HIbot" inspired by hexapod insect with low cost, light weight and simple control. Both movable body and legged-wheel were adapted to achieve fixable movement of the robots with one DC motor and no extra control. A series of experiments demonstrated that the HIbot can crawl in various outdoor environments such as gravel, grassland, etc. It can cross obstacles that are as high as 2.8 times of the radius of the legged-wheel. Such characteristics give the robot a great potential in applications.
Date of Conference: 06-08 December 2019
Date Added to IEEE Xplore: 20 January 2020
ISBN Information:
Conference Location: Dali, China

References

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